Considering the spatial position and shape detection properties of the fiber Bragg grating (FBG) curve sensor used in the human body, the positioning accuracy of the FBG curve sensor plays a major role in the pre-diagnosis and treatment of diseases. We present a new type of shape-sensing catheter (diameter of 2.0 mm and length of 810 mm) that is integrated with an array of four optical fibers, where each contains five nodes, to track the shape. Firstly, the distribution of the four orthogonal fiber gratings is wound around a nitinol wire using novel packaging technology, and the spatial curve shape is rebuilt based on the positioning of discrete points in space. An experimental platform is built, and then a reconstruction algorithm for coordinate point fitting of the Frenet frame is used to perform the reconstruction experiment on millimeter paper. The results show that, compared with those in previous studies, in 2D test, the maximum relative error for the end position is reduced to 2.74%, and in 3D reconstruction experiment, the maximum shape error is 3.43%, which verifies both the applicability of the sensor and the feasibility of the proposed method. The results reported here will provide an academic foundation and the key technologies required for navigation and positioning of non-invasive and minimally invasive surgical robots, intelligent structural health detection, and search and rescue operations in debris.

中文翻译：

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使用光纤布拉格光栅的导管的制造和形状检测

考虑到人体中使用的光纤布拉格光栅（FBG）曲线传感器的空间位置和形状检测特性，FBG曲线传感器的定位精度在疾病的预诊断和治疗中起着重要作用。我们提出了一种新型的形状感应导管（直径2.0毫米，长度810毫米），该导管与四根光纤阵列集成在一起，每根光纤包含五个节点，以跟踪形状。首先，使用新颖的包装技术将四个正交纤维光栅的分布缠绕在镍钛合金丝上，并基于空间中离散点的位置重建空间曲线形状。建立了实验平台，然后使用重构算法对Frenet框架进行坐标点拟合，以在毫米纸上进行重构实验。结果表明，与以前的研究相比，在2D测试中，端部位置的最大相对误差降低到2.74％，在3D重建实验中，最大形状误差为3.43％，这证明了两者的适用性。传感器以及所提出方法的可行性。此处报告的结果将为无创和微创外科手术机器人的导航和定位，智能结构健康检测以及碎片的搜索和救援操作提供学术基础和关键技术。验证了传感器的适用性和所提出方法的可行性。此处报告的结果将为无创和微创外科手术机器人的导航和定位，智能结构健康检测以及碎片的搜索和救援操作提供学术基础和关键技术。验证了传感器的适用性和所提出方法的可行性。此处报告的结果将为无创和微创外科手术机器人的导航和定位，智能结构健康检测以及碎片的搜索和救援操作提供学术基础和关键技术。