2018/01/22 by Shahriar Sefati, Farshid Alambeigi, Sefati, Shahriar +7
Engineering · #Advanced Fiber Optic Sensors #FOS: Computer and information sciences #Geophysics and Sensor Technology #Optical Coherence Tomography Applications #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1801.06953
openalex publication_date 2018/01/22 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Fiber Bragg Grating (FBG) has shown great potential in shape and force\nsensing of continuum manipulators (CM) and biopsy needles. In the recent years,\nmany researchers have studied different manufacturing and modeling techniques\nof FBG-based force and shape sensors for medical applications. These studies\nmainly focus on obtaining shape and force information in a static (or\nquasi-static) environment. In this paper, however, we study and evaluate\ndynamic environments where the FBG data is affected by vibration caused by a\nharmonic force e.g. a rotational debriding tool harmonically exciting the CM\nand the FBG-based shape sensor. In such situations, appropriate pre-processing\nof the FBG signal is necessary in order to infer correct information from the\nraw signal. We look at an example of such dynamic environments in the less\ninvasive treatment of osteolysis by studying the FBG data both in time- and\nfrequency-domain in presence of vibration due to a debriding tool rotating\ninside the lumen of the CM.\n