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Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery
Liu H(刘浩); Farvardin, Amirhossein; Pedram, Sahba Aghajani; Iordachita, Iulian; Taylor, Russell H.; Armand, Mehran
Department机器人学研究室
Conference Name2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Conference DateMay 26-30, 2015
Conference PlaceSeattle, WA, United states
Source PublicationProceedings - IEEE International Conference on Robotics and Automation
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages201-206
Indexed ByEI ; CPCI(ISTP)
EI Accession number20153101098834
WOS IDWOS:000370974900027
Contribution Rank1
ISSN1050-4729
ISBN978-1-4799-6923-4
AbstractShape sensing techniques utilizing Fiber Bragg grating (FBG) arrays can enable real-time tracking and control of dexterous continuum manipulators (DCM) used in minimally invasive surgeries. For many surgical applications, the DCM may need to operate with much larger curvatures than what current shape sensing methods can detect. This paper proposes a novel shape sensor, which can detect a radius of curvature of 15 mm for a 35 mm long DCM. For this purpose, we used FBG sensors along with nitinol wires as the supporting substrates to form a triangular cross section. For verification, we assembled the sensor inside the wall of the DCM. Experimental results indicate that the proposed sensor can detect the DCM's curvature with an average error of 3.14%.
Language英语
Citation statistics
Cited Times:12[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/16867
Collection机器人学研究室
Affiliation1.Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, United States
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
3.University of Hawaii at Manoa, Honolulu, HI, United States
4.Johns Hopkins University Applied Physics Laboratory, Baltimore, MD, United States
Recommended Citation
GB/T 7714
Liu H,Farvardin, Amirhossein,Pedram, Sahba Aghajani,et al. Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery[C]. Piscataway, NJ, USA:IEEE,2015:201-206.
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