Imperial College London
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Dr Alex Thompson

Faculty of Medicine, Department of Surgery & Cancer

Lecturer in Sensing in Cancer
 
 
 
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Contact

 

alex.thompson08 Website

 
 
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Location

 

B411Bessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Schmitz:2017:10.1109/IROS.2017.8202259,
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}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
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
PB  - IEEE
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  -
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