Single-Fiber Optical Frequency Domain Reflectometry Shape Sensing of Continuum Manipulators with Planar Bending

Abstract-- To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain Reflectometry (OFDR) fiber attached to a flat nitinol wire (NiTi). Integrating this easy-to-manufacture unique sensor with a long and soft CM with 170 mm length, we performed different experiments to evaluate its shape reconstruction ability. Results demonstrate phenomenal shape reconstruction accuracy for both C-shape (< 2 mm tip error, < 1.2 mm shape error) and J-shape (< 3.4 mm tip error, < 2.3 mm shape error) experiments. I. INTRODUCTION Instead of using rigid instrumentation in minimally invasive surgeries that limit access and dexterity of clinicians, continuum manipulators (CMs) have been proposed to provide more flexibility and access within confined and tortuous paths of anatomical spaces [1]. SSA. Figure also shows the SSA structure modeled as a composite Particularly, having an appropriate integrated sensing modality and pertinent algorithm to estimate their shape and end effector position at any time would be of Paramount importance for cannot completely address this poor accuracy and may increase the accurate control of these robots [1], [4].