Knowledge Commons of Institute of Automation,CAS
Multi-Interface Strain Transfer Modeling for Flexible Endoscope Shape Sensing | |
Liu, Xinran1; Chen, Jian1; Hu, Jian2,3; Chen, Hao1; Huang, Yuanrui1; Liu, Hongbin2,3 | |
发表期刊 | IEEE ROBOTICS AND AUTOMATION LETTERS |
ISSN | 2377-3766 |
2024-03-01 | |
卷号 | 9期号:3页码:2670-2677 |
摘要 | 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. |
关键词 | Sensors Shape Optical fiber sensors Strain Endoscopes Robot sensing systems Optical fibers Surgical robotics: laparoscopy soft sensors and actuators surgical robotics: steerable catheters/needles |
DOI | 10.1109/LRA.2024.3359546 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | Institute of Automation, Chinese Academy of Sciences |
项目资助者 | Institute of Automation, Chinese Academy of Sciences |
WOS研究方向 | Robotics |
WOS类目 | Robotics |
WOS记录号 | WOS:001174106000007 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能传感器 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56967 |
专题 | 多模态人工智能系统全国重点实验室_智能微创医疗技术团队 |
通讯作者 | Liu, Hongbin |
作者单位 | 1.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 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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