Journal ArticleDOI
Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey
Chaoyang Shi,Xiongbiao Luo,Peng Qi,Tianliang Li,Shuang Song,Zoran Najdovski,Toshio Fukuda,Hongliang Ren +7 more
TLDR
This survey investigates the recent advances in alternative emerging techniques for 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking- based, and intraoperative imaging modality-based shape-reconstruction methods.Abstract:
Continuum robots provide inherent structural compliance with high dexterity to access the surgical target sites along tortuous anatomical paths under constrained environments and enable to perform complex and delicate operations through small incisions in minimally invasive surgery These advantages enable their broad applications with minimal trauma and make challenging clinical procedures possible with miniaturized instrumentation and high curvilinear access capabilities However, their inherent deformable designs make it difficult to realize 3-D intraoperative real-time shape sensing to accurately model their shape Solutions to this limitation can lead themselves to further develop closely associated techniques of closed-loop control, path planning, human–robot interaction, and surgical manipulation safety concerns in minimally invasive surgery Although extensive model-based research that relies on kinematics and mechanics has been performed, accurate shape sensing of continuum robots remains challenging, particularly in cases of unknown and dynamic payloads This survey investigates the recent advances in alternative emerging techniques for 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking-based, and intraoperative imaging modality-based shape-reconstruction methods The limitations of existing technologies and prospects of new technologies are also discussedread more
Citations
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Journal ArticleDOI
Soft Robotics in Minimally Invasive Surgery.
TL;DR: This work proposes a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.
Journal ArticleDOI
Fiber Bragg Gratings for Medical Applications and Future Challenges: A Review
Daniela Lo Presti,Carlo Massaroni,Cátia Leitão,Maria de Fátima Domingues,Marzhan Sypabekova,David Barrera,Ignazio Floris,Luca Massari,Calogero Maria Oddo,Salvador Sales,Iulian Iordachita,Daniele Tosi,Emiliano Schena +12 more
TL;DR: The FBG-based measuring systems, their principle of work, and their applications in medicine and healthcare are reviewed to highlight how FBGs can meet the demands of next-generation medical devices and healthcare system.
Journal ArticleDOI
Recent developments in fibre optic shape sensing
TL;DR: A comprehensive critical review of technologies used in the development of fiber optic shape sensors (FOSSs) is presented in this article, where the authors identify the major optical fiber technologies used for shape sensing and provide an account of the challenges and emerging applications of FOSSs in various industries.
References
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Journal ArticleDOI
Fiber Bragg grating technology fundamentals and overview
K.O. Hill,G. Meltz +1 more
TL;DR: Fiber Bragg grating (FBG) technology has been extensively studied in the literature as mentioned in this paper, where the basic techniques for fiber grating fabrication, their characteristics, and the fundamental properties of fiber gratings are described.
Journal ArticleDOI
Review of the present status of optical fiber sensors
TL;DR: Among the various fiber-optic sensor technologies, especially, technologies such as fiber grating sensors, fiber- Optic gyroscopes, and fiber-Optic current sensors are discussed with emphasis on the principles and current status.
Journal ArticleDOI
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review
Robert J. Webster,Bryan A. Jones +1 more
TL;DR: This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific.
Journal ArticleDOI
Continuum Robots for Medical Applications: A Survey
TL;DR: The state of the art in continuum robot manipulators and systems intended for application to interventional medicine are described, and relevant research in design, modeling, control, and sensing for continuum manipulators are discussed.
Journal ArticleDOI
Kinematics for multisection continuum robots
Bryan A. Jones,Ian D. Walker +1 more
TL;DR: A new method is introduced for synthesizing kinematic relationships for a general class of continuous backbone, or continuum, robots that enable real-time task and shape control by relating workspace (Cartesian) coordinates to actuator inputs, such as tendon lengths or pneumatic pressures, via robot shape coordinates.
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