Measurement Error of 3D Shape and Position of Multi-core Optical Fiber for Precision Operation of Continuum Robots

被引：0
|
作者：
Sun G. [1 ,2 ]
Zhang X. [1 ,2 ]
He Y. [1 ,2 ]
Zhou K. [1 ,3 ]
Zhu L. [1 ,2 ]
机构：
[1] Key Laboratory of the Ministry of Education for Optoelectronic Measurement Technology and Instrument, Beijing Information Science & Technology University, Beijing
[2] Beijing Laboratory of Optical Fiber Sensing and System, Beijing Information Science & Technology University, Beijing
[3] School of Precision Instrument and Opto-electronics Engineering, Tianjin University, Tianjin
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2024年 / 60卷 / 03期
关键词：
3D shape measurement; continuum robot; error analysis; multi-core optical fiber sensor; precision measurement;
D O I：
10.3901/JME.2024.03.068
中图分类号：
学科分类号：
摘要：
Aiming at the problem of high-precision measurement of 3D shape and position of continuum robot when it operates precisely in a complex enclosed space, an error analysis and correction method based on multi-core optical fiber deformation sensing equation and 3D shape reconstruction algorithm is proposed. Based on the structural characteristics of multi-core optical fiber sensing and the principle of 3D spatial geometric transformation, the key equations and algorithms for 3D shape and position measurement of multi-core optical fiber are deduced and established. Using the key model and algorithm-driven method, the influence of key parameter error of the multi-core fiber, signal demodulation error, sensing equation and reconstruction algorithm error, and ambient temperature change on the measurement accuracy is systematically analyzed, and the main error sources and their quantitative influence degrees are determined. Through error traceability, the calibration and error correction methods of key parameters of the measurement system are established. A seven-core optical fiber measurement experimental device is constructed, and the effectiveness of the method is verified by experiments. The results show that the proposed method can realize the traceability, quantitative analysis and correction of systematic measurement error, effectively improve the 3D shape and position measurement accuracy of multi-core optical fiber sensing system, and have application value and prospect in the field of precision measurement of continuum robots. © 2024 Chinese Mechanical Engineering Society. All rights reserved.
引用
收藏
页码：68 / 82
页数：14
相关论文
共 22 条
  • [1] RUSSO M, SADATI S, DONG X, Et al., Continuum robots：An overview[J], Advanced Intelligent Systems, 5, (2023)
  • [2] SUN Guangkai, HE Yanlin, YU Yang, Et al., Fiberoptic navigation technology for continuum surgical robots：Status and future perspectives[J], Journal of Mechanical Engineering, 59, 1, pp. 1-18, (2023)
  • [3] RUSSO M, SRIRATANASAK N, WM B, Et al., Cooperative continuum robots ： Enhancing individual continuum arms by reconfiguring into a parallel manipulator[J], IEEE Robotics and Automation Letters, 7, 2, pp. 1558-1565, (2022)
  • [4] DUPONT P E, SIMAAN N, CHOSET H, Et al., Continuum robots for medical interventions[J], Proceedings of the IEEE, 110, 7, pp. 847-870, (2022)
  • [5] YAN Lutao, LI Haiyuan, Et al., Review of continue surgical robot actuated by SMA[J], Journal of Mechanical Engineering, 57, 11, pp. 138-152, (2021)
  • [6] DA VEIGA T, CHANDLER J H, LLOYD P，, Et al., Challenges of continuum robots in clinical context：A review[J], Progress in Biomedical Engineering, 2, 3, (2020)
  • [7] Robot-assisted high-precision surgery has passed its first test in humans
  • [8] High-precision surgery robots：more than an assistant for surgeons
  • [9] Microsure MUSA robot used for first time on real patients [EB/OL]
  • [10] SHI C Y, LUO X B, QI P, Et al., Shape sensing techniques for continuum robots in minimally invasive surgery：A surgery[J], IEEE Transactions on Biomedical Engineering, 64, 8, pp. 1665-1678, (2017)
123