Embedded Flexible Circumferential Sensing for Real-Time Intraoperative Environmental Perception in Continuum Robots

TL;DR

This paper introduces a flexible circumferential sensor for continuum robots that enables real-time environmental perception, improving safety and control during minimally invasive surgeries by accurately detecting obstacles.

Contribution

It presents a novel, modular, and cost-effective annular sensor design integrated around robot disks for enhanced intraoperative environmental mapping.

Findings

Obstacle detection accuracy reaches 0.19 mm

Sensor is flexible, modular, and compatible with various robot architectures

Demonstrates improved safety and control in surgical environments

Abstract

Continuum robots have been widely adopted in robot-assisted minimally invasive surgery (RMIS) because of their compact size and high flexibility. However, their proprioceptive capabilities remain limited, particularly in narrow lumens, where lack of environmental awareness can lead to unintended tissue contact and surgical risks. To address this challenge, this work proposes a flexible annular sensor structure integrated around the vertebral disks of continuum robots. The proposed design enables real-time environmental mapping by estimating the distance between the robotic disks and the surrounding tissue, thereby facilitating safer operation through advanced control strategies. The experiment has proven that its accuracy in obstacle detection can reach 0.19 mm. Fabricated using flexible printed circuit (FPC) technology, the sensor demonstrates a modular and cost-effective design with compact dimensions and low noise interference. Its adaptable parameters allow compatibility with various continuum robot architectures, offering a promising solution for enhancing intraoperative perception and control in surgical robotics.