A primary motivation of our research is the monitoring of physical, physiological, and biochemical parameters - in any environment and without activity restriction and behaviour modification - through using miniaturised, wireless Body Sensor Networks (BSN). Key research issues that are currently being addressed include novel sensor designs, ultra-low power microprocessor and wireless platforms, energy scavenging, biocompatibility, system integration and miniaturisation, processing-on-node technologies combined with novel ASIC design, autonomic sensor networks and light-weight communication protocols. Our research is aimed at addressing the future needs of life-long health, wellbeing and healthcare, particularly those related to demographic changes associated with an ageing population and patients with chronic illnesses. This research theme is therefore closely aligned with the IGHI’s vision of providing safe, effective and accessible technologies for both developed and developing countries.


BibTex format

author = {Schmitz, A and Thompson, AJ and Berthet-Rayne, P and Seneci, CA and Wisanuvej, P and Yang, GZ},
doi = {10.1109/IROS.2017.8202259},
pages = {947--952},
publisher = {IEEE},
title = {Shape sensing of miniature snake-like robots using optical fibers},
url = {http://dx.doi.org/10.1109/IROS.2017.8202259},
year = {2017}

RIS format (EndNote, RefMan)

AB - Snake like continuum robots are increasingly used for minimally invasive surgery. Most robotic devices of this sort that have been reported to date are controlled in an open loop manner. Using shape sensing to provide closed loop feedback would allow for more accurate control of the robot's position and, hence, more precise surgery. Fiber Bragg Gratings, magnetic sensors and optical reflectance sensors have all been reported for this purpose but are often limited by their cost, size, stiffness or complexity of fabrication. To address this issue, we designed, manufactured and tested a prototype two-link robot with a built-in fiber-optic shape sensor that can deliver and control the position of a CO 2 -laser fiber for soft tissue ablation. The shape sensing is based on optical reflectance, and the device (which has a 4 mm outer diameter) is fabricated using 3D printing. Here we present proof-of-concept results demonstrating successful shape sensing - i.e. measurement of the angular displacement of the upper link of the robot relative to the lower link - in real time with a mean measurement error of only 0.7°.
AU - Schmitz,A
AU - Thompson,AJ
AU - Berthet-Rayne,P
AU - Seneci,CA
AU - Wisanuvej,P
AU - Yang,GZ
DO - 10.1109/IROS.2017.8202259
EP - 952
PY - 2017///
SN - 2153-0858
SP - 947
TI - Shape sensing of miniature snake-like robots using optical fibers
UR - http://dx.doi.org/10.1109/IROS.2017.8202259
UR - http://hdl.handle.net/10044/1/57524
ER -