TY - GEN
T1 - A new method for fiber bragg grating based needle shape sensing calibration
AU - Zhang, Leifeng
AU - Li, Changle
AU - Zhang, Xuehe
AU - Liu, Gangfeng
AU - Liu, Yubin
AU - Zhao, Jie
AU - Ban, Guang
AU - Fan, Yilun
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications.
AB - Accurate placement of the needle is critical in percutaneous surgery. Needle shape reconstruction technology based on fiber Bragg gratings (FBGs) sensor is considered to have the potential to achieve this goal. In this paper, we present a temperature-insensitive calibration model for calibrating needles with FBG sensors to accurately estimate its deformation. In addition, we have designed a device for simultaneously calibrating the loading direction and shape. Preliminary results indicate that the proposed model is theoretically insensitive to temperature, but in fact it can only be used within a certain temperature range. The resolution of the loading direction increases as the degree of bending increases, with a maximum error of 8.58°. Shape reconstruction error can be less than 1.5mm with small needle bending. This calibration method can meet clinical applications.
KW - Calibration
KW - Fiber Bragg gratings (FBGs)
KW - Percutaneous surgery
KW - Shape sensing
UR - https://www.scopus.com/pages/publications/85079076470
U2 - 10.1109/ROBIO49542.2019.8961717
DO - 10.1109/ROBIO49542.2019.8961717
M3 - 会议稿件
AN - SCOPUS:85079076470
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 1953
EP - 1958
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -