Purpose

This paper aims to present a shape sensing method and feedback control strategy based on fiber Bragg grating (FBG) sensor to improve the control accuracy of the robot and ensure the safety of the cardiac interventional surgery.

Design/methodology/approach

To theoretically describe the shape of the catheter robot, the kinematic model is established by the geometric analysis method. And to obtain the actual shape, a large curvature assemble sensor based on FBG is adopted and a novel simple shape reconstruction model is proposed, which can provide the shape curve and distal position. In addition, the influence of external load on the bending deformation is investigated by experiments. To improve the shape accuracy of the robot, a shape feedback control method is presented to control the catheter robot, which can control the robot to bend into the pre-given desired shape.

Findings

Experiment results verify the effectiveness of the shape sensing method and the reconstruction model, and the correlation coefficients of three sets of curve in different coordinate directions are 0.9986, 0.9992 and 0.9999. Results of the shape feedback experiment show that the curvature error and direction angle error are 1.42% and 10.3%, respectively. The continuum catheter robot can be controlled to achieve the desired bending shape.

Originality/value

The shape reconstruction method and feedback control strategy proposed in this paper can improve the control accuracy of the robot to avoid the risk of the collision with the surrounding blood vessels, the tissues and organs.

中文翻译：

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介入手术导管机器人的形状传感与反馈控制

目的

本文旨在提出一种基于光纤布拉格光栅（FBG）传感器的形状传感方法和反馈控制策略，以提高机器人的控制精度，确保心脏介入手术的安全。

设计/方法/方法

为了从理论上描述导管机器人的形状，通过几何分析方法建立了运动学模型。并为获得实际形状，采用基于FBG的大曲率组装传感器，并提出了一种新颖的简单形状重建模型，可以提供形状曲线和远端位置。此外，通过实验研究了外部载荷对弯曲变形的影响。为了提高机器人的形状精度，提出了一种形状反馈控制方法来控制导管机器人，该方法可以控制机器人弯曲成预先给定的所需形状。

发现

实验结果验证了形状感知方法和重建模型的有效性，三组曲线在不同坐标方向的相关系数分别为0.9986、0.9992和0.9999。形状反馈实验结果表明曲率误差和方向角误差分别为1.42%和10.3%。可以控制连续导管机器人以实现所需的弯曲形状。

原创性/价值

本文提出的形状重建方法和反馈控制策略可以提高机器人的控制精度，避免与周围血管、组织器官发生碰撞的风险。