The development of miniaturized continuum robots has a wide range of applications in minimally invasive endoluminal interventions. To navigate inside tortuous lumens without impinging on the vessel wall and causing tissue damage or the risk of perforation, it is necessary to have simultaneous shape sensing of the continuum robot and its tip contact force sensing with the surrounding environment. Miniaturization and size constraint of the device have precluded the use of conventional sensing hardware and embodiment schemes. In this study, we propose the use of optical fibers for both actuation and tension/shape/force sensing. It uses a model-based method with structural compensation, allowing direct measurement of the cable tension near the base of the manipulator without increasing the dimensions. It further structurally filters out disturbances from the flexible shaft. In addition, a model is built by considering segment differences, cable interactions/cross talks, and external forces. The proposed model-based method can simultaneously estimate the shape of the manipulator and external force applied onto the robot tip. Detailed modeling and validation results demonstrate the accuracy and reliability of the proposed method for the miniaturized continuum robot for endoluminal intervention.

中文翻译：

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具有集成张力传感的激光轮廓连续体机器人，用于同时估计形状和尖端力。

小型化连续体机器人的发展在微创腔内干预中有广泛的应用。为了在曲折的管腔内导航而不撞击血管壁并造成组织损伤或穿孔的风险，有必要同时对连续体机器人进行形状传感，并对其尖端与周围环境的接触力进行传感。设备的小型化和尺寸限制排除了使用传统的传感硬件和实施方案。在这项研究中，我们建议将光纤用于驱动和张力/形状/力传感。它使用基于模型的结构补偿方法，允许在不增加尺寸的情况下直接测量机械手底部附近的电缆张力。它进一步在结构上滤除来自柔性轴的干扰。此外，通过考虑分段差异、电缆相互作用/串扰和外力建立模型。所提出的基于模型的方法可以同时估计机械手的形状和施加在机器人尖端的外力。详细的建模和验证结果证明了所提出的用于腔内介入的小型连续机器人方法的准确性和可靠性。