On The Effect of Vibration on Shape Sensing of Continuum Manipulators Using Fiber Bragg Gratings

TL;DR

This paper investigates how vibrations affect fiber Bragg grating-based shape sensing in continuum manipulators during dynamic conditions, emphasizing the need for signal pre-processing to ensure accurate shape and force information in medical applications.

Contribution

It evaluates the impact of vibrations on FBG-based shape sensing in dynamic environments and proposes analysis methods in time and frequency domains for improved signal interpretation.

Findings

Vibration significantly affects FBG signal accuracy in dynamic settings.

Pre-processing in time and frequency domains improves shape sensing reliability.

Vibrations from rotating tools introduce identifiable patterns in FBG signals.

Abstract

Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of FBG-based force and shape sensors for medical applications. These studies mainly focus on obtaining shape and force information in a static (or quasi-static) environment. In this paper, however, we study and evaluate dynamic environments where the FBG data is affected by vibration caused by a harmonic force e.g. a rotational debriding tool harmonically exciting the CM and the FBG-based shape sensor. In such situations, appropriate pre-processing of the FBG signal is necessary in order to infer correct information from the raw signal. We look at an example of such dynamic environments in the less invasive treatment of osteolysis by studying the FBG data both in time- and frequency-domain in presence of vibration due to a debriding tool rotating inside the lumen of the CM.