Multi-Interface Strain Transfer Modeling for Flexible Endoscope Shape Sensing
Liu, Xinran1; Chen, Jian1; Hu, Jian2,3; Chen, Hao1; Huang, Yuanrui1; Liu, Hongbin2,3

Robot-assisted minimally invasive surgery (MIS) using flexible endoscopy has emerged as a groundbreaking technology for improving traditional surgical approaches. However, a major challenge in advancing this technology is the lack of shape sensing, which leads to inaccurate navigation and control of ultra-long flexible endoscopy within the narrow and tortuous lumen environment. The unique characteristics of flexible endoscopy, including large slenderness ratio, high bending angles, and non-symmetric, multi-channel configurations, pose significant challenges to accurate shape sensing. To address this challenge, we propose a novel shape-sensing scheme based on distributed fiber optic strain measurement, which incorporates a complete and applicable multi-interface strain transfer model adapted to large deformation and multiple sensing points. To validate the theoretical model, a shape sensor with a diameter of 2.84 mm and a length of 500 mm is fabricated. Both 2D and 3D shape sensing experiments are conducted on predefined templates, and the results highlight a significant improvement in the precision of sensor measurements through the utilization of the proposed model. Specifically, the 3D experiment results show a mean absolute error (MAE) of 5.38 mm for complex geometrical shapes and the proposed model reduces the MAE by approximately 52.9% compared to the unmodified case.

KeywordSensors Shape Optical fiber sensors Strain Endoscopes Robot sensing systems Optical fibers Surgical robotics: laparoscopy soft sensors and actuators surgical robotics: steerable catheters/needles
Indexed BySCI
Funding ProjectInstitute of Automation, Chinese Academy of Sciences
Funding OrganizationInstitute of Automation, Chinese Academy of Sciences
WOS Research AreaRobotics
WOS SubjectRobotics
WOS IDWOS:001174106000007
Sub direction classification智能传感器
planning direction of the national heavy laboratory其他
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Document Type期刊论文
Corresponding AuthorLiu, Hongbin
Affiliation1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China
3.Chinese Acad Sci, Hong Kong Inst Sci & Innovat, Ctr AI & Robot, Beijing 100190, Peoples R China
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Liu, Xinran,Chen, Jian,Hu, Jian,et al. Multi-Interface Strain Transfer Modeling for Flexible Endoscope Shape Sensing[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2024,9(3):2670-2677.
APA Liu, Xinran,Chen, Jian,Hu, Jian,Chen, Hao,Huang, Yuanrui,&Liu, Hongbin.(2024).Multi-Interface Strain Transfer Modeling for Flexible Endoscope Shape Sensing.IEEE ROBOTICS AND AUTOMATION LETTERS,9(3),2670-2677.
MLA Liu, Xinran,et al."Multi-Interface Strain Transfer Modeling for Flexible Endoscope Shape Sensing".IEEE ROBOTICS AND AUTOMATION LETTERS 9.3(2024):2670-2677.
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