Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

Osman, Dalia; Du, Xinli; Li, Wanlin; Noh, Yohan

doi:10.1109/tmrb.2022.3155200

Cited by 7 publications

(13 citation statements)

References 16 publications

(20 reference statements)

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“…Set over a range of 140°, the thickness of the reflector changes over a 2mm range, shown in Figure 2. This is in line with the sensor responsive range in reference to the sensor's technical data sheet, as mentioned in previous work [13], and so proximity between the sensor and the curve will increase as rotation ensues, resulting in a varying voltage signal. The full prototype is seen in Figure 3, consisting of 30mm disk joints linked together using rotational bearings.…”

Section: A Prototype Designsupporting

confidence: 83%

Prototype of An Optoelectronic Joint Sensor Using Curvature Based Reflector for Body Shape Sensing

Osman

et al. 2022

2022 IEEE-EMBS International Conference on Wearable and Implantable Body Sensor Networks (BSN)

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This paper demonstrates a working prototype for shape sensing using miniature optoelectronic sensors integrated into a chain of rotational links. Wearable sensors for rehabilitation, prosthetics and robotics must be lightweight, miniature, and compact to allow comfortable range of motion without obstruction, and therefore, the integrated network of sensors and hardware must be adapted to this. The sensing principle is based on light intensity modulation using a curvature varying reflector. The modular sensing configuration design offers a low-cost, miniaturized approach to shape sensing, compatible in clinical applications. A prototype is constructed, and calibration is carried out. Shape sensing estimation is evaluated to assess accuracy. A four-link rotational chain prototype shows average estimation errors of 2.4° for shape sensing compared to an inertial measurement unit.

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Section: A Prototype Designsupporting

confidence: 83%

Prototype of An Optoelectronic Joint Sensor Using Curvature Based Reflector for Body Shape Sensing

Osman

et al. 2022

2022 IEEE-EMBS International Conference on Wearable and Implantable Body Sensor Networks (BSN)

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“…The RMSE obtained for tilt and pan angles (values of 6.946°and 6.284°, respectively) can provide a performance index of the estimation from the linear fitting model. These values are within the range of the RMSE obtained in state-of-the-art optical shape sensing for tendon-driven flexible robotic manipulators (see [31]). A linear fitting model can be considered the best option whenever the digital acquisition and elaboration for bending estimation are implemented on a microcontroller-based embedded control board.…”

Section: Experimental Setup For the Experimental Characterization Of ...supporting

confidence: 75%

Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery

Dragone,

Donadio,

Mirabelli

et al. 2023

Micromachines

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A minimally-invasive manipulator characterized by hyper-redundant kinematics and embedded sensing modules is presented in this work. The bending angles (tilt and pan) of the robot tip are controlled through tendon-driven actuation; the transmission of the actuation forces to the tip is based on a Bowden-cable solution integrating some channels for optical fibers. The viability of the real-time measurement of the feedback control variables, through optoelectronic acquisition, is evaluated for automated bending of the flexible endoscope and trajectory tracking of the tip angles. Indeed, unlike conventional catheters and cannulae adopted in neurosurgery, the proposed robot can extend the actuation and control of snake-like kinematic chains with embedded sensing solutions, enabling real-time measurement, robust and accurate control of curvature, and tip bending of continuum robots for the manipulation of cannulae and microsurgical instruments in neurosurgical procedures. A prototype of the manipulator with a length of 43 mm and a diameter of 5.5 mm has been realized via 3D printing. Moreover, a multiple regression model has been estimated through a novel experimental setup to predict the tip angles from measured outputs of the optoelectronic modules. The sensing and control performance has also been evaluated during tasks involving tip rotations.

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“…This data is recorded along with the two sets of sensor voltages during motion, shown also in Figure 7. As can be seen, the motion data is more stable compared to previously referenced technique [13], that used a PLA printed ball joint as opposed to a spherical bearing as is done here. The use of this bearing eliminated some of the noise previously seen in the sensor data, owing to friction, and motion is a lot smoother.…”

Section: A Sensor Calibration Platformmentioning

confidence: 77%

“…Optoelectronic sensors are another optical based technique that can be used for shape sensing. Prior work by the authors introduced the integration of optoelectronic reflective sensors into a tendon actuated robot for shape estimation in three dimensions [13]. Three optoelectronic sensors were placed equidistantly around each rotating link of the manipulator.…”

Section: Introductionmentioning

confidence: 99%

Shape Sensing for Continuum Robotics using Optoelectronic Sensors with Convex Reflectors

Osman¹,

Du²,

Minton³

et al. 2023

Preprint

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<p>Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is required to manipulate through fragile paths. This challenge has been addressed using a range of different sensing techniques, for example, FBG technology, IMU networks or stretch sensors. Previously, an optics-based method, using optoelectronic sensors was explored, offering a simple and cost-effective solution for shape sensing in a flexible tendon-actuated manipulator in two orientations. This was based on proximity-modulated angle estimation and has been the basis for the shape-sensing method addressed in this paper. The improved and miniaturised technique demonstrated in this paper is based on the use of a spherically shaped reflector with optoelectronic sensors integrated into a tendon actuated robotic manipulator. Upgraded sensing capability is achieved using optimisation of the spherical reflector shape in terms of sensor range and resolution, and improved calibration is achieved through the integration of spherical bearings for friction-free motion. Shape estimation is achieved in two orientations upon calibration of sensors, with a maximum Root Mean Square Error (RMS) of 3.37°</p>

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Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

Cited by 7 publications

References 16 publications

Prototype of An Optoelectronic Joint Sensor Using Curvature Based Reflector for Body Shape Sensing

Prototype of An Optoelectronic Joint Sensor Using Curvature Based Reflector for Body Shape Sensing

Design and Experimental Validation of a 3D-Printed Embedded-Sensing Continuum Robot for Neurosurgery

Shape Sensing for Continuum Robotics using Optoelectronic Sensors with Convex Reflectors

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