Design, Measurement and Shape Reconstruction of Soft Surgical Actuator Based on Fiber Bragg Gratings

被引:22
作者
He, Yanlin [1 ,2 ]
Zhu, Lianqing [1 ,2 ]
Sun, Guangkai [1 ,2 ]
Yu, Mingxin [1 ,2 ]
Dong, Mingli [1 ,2 ]
机构
[1] Beijing Informat Sci & Technol Univ, Beijing Engn Res Ctr Optoelect Informat & Instrum, Beijing 100192, Peoples R China
[2] Beijing Informat Sci & Technol Univ, Bion & Intelligent Equipment Lab, Beijing 100192, Peoples R China
来源
APPLIED SCIENCES-BASEL | 2018年 / 8卷 / 10期
基金
中国博士后科学基金;
关键词
micro fiber sensor; shape reconstruction; soft surgical robot; pneumatic actuator; modeling; SENSOR;
D O I
10.3390/app8101773
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
Soft actuators are the components responsible for organs and tissues adsorptive fixation in some surgical operations, but the lack of shape sensing and monitoring of a soft actuator greatly limits their application potential. Consequently, this paper proposes a real-time 3D shape reconstruction method of soft surgical actuator which has an embedded optical fiber with two Fiber Bragg Grating (FBG) sensors. First, the design principle and the sensing of the soft actuator based on FBG sensors are analyzed, and the fabrication process of soft actuator which has an embedded optical fiber with two FBG sensors is described. Next, the calibration of the FBG sensors is conducted. Based on curvatures and curve fitting functions, the strategy of 3D shapes reconstruction of the soft actuator is presented. Finally, some bending experiments of the soft actuator are carried out, and the 3D shapes of the soft actuator at different bending states are reconstructed. This well reconstructed 3D shape of a soft actuator demonstrates the effectiveness of the shape reconstruction method that is proposed in this paper, as well as the potential and increased applications of these structures for real soft surgical actuators.
引用
收藏
页数:15
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