Multi-Core Optical Fibers With Bragg Gratings as Shape Sensor for Flexible Medical Instruments

被引：196

作者：

Khan, Fouzia ^{[1
,2
]}

Denasi, Alper ^{[1
,2
]}

Barrera, David ^{[3
]}

Madrigal, javier ^{[3
]}

Sales, Salvador ^{[3
]}

Misra, Sarthak ^{[1
,2
]}

机构：

[1] Univ Groningen, Univ Med Ctr Groningen, Dept Biomed Engn, NL-9713 GZ Groningen, Netherlands

[2] Univ Twente, Fac Engn Technol, Dept Biomech Engn, NL-7522 NB Enschede, Netherlands

[3] Univ Politecn Valencia, ITEAM Res Inst, E-46022 Valencia, Spain

来源：

IEEE SENSORS JOURNAL | 2019年 / 19卷 / 14期

基金：

欧盟地平线“2020”;

关键词：

Fiber Bragg grating; bio-medical; robotics; shape sensing; medical instrument; 3D reconstruction; multi-core optical fiber; CURVATURE; 3D;

D O I：

10.1109/JSEN.2019.2905010

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a technique to reconstruct the shape of a flexible instrument in three-dimensional Euclidean space based on data from fiber Bragg gratings (FBGs) that are inscribed in multi-core fibers. Its main contributions are the application of several multi-core fibers with FBGs as shape sensor for medical instruments and a thorough presentation of the reconstruction technique. The data from the FBG sensors are first converted to strain measurements, which is then used to calculate the curvature and torsion of the fibers. The shape of the instrument is reconstructed using Frenet-Serret equations in conjunction with the calculated curvature and torsion of the instrument. The reconstruction technique is validated with a catheter sensorized with four multi-core fibers that have FBG sensors. The catheter is placed in eight different configurations and the reconstruction is compared to the ground truth. The maximum reconstruction error among all the configurations is found to be 1.05 mm. The results show that shape sensing for flexible medical instruments is feasible with FBG sensors in multi-core fibers.

引用

页码：5878 / 5884

页数：7

共 33 条

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[2]

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