Multi-core optical fibers with Bragg gratings as shape sensor for flexible medical instruments

F. Khan, Alper Denasi, David Barrera, Javier Madrigal, Salvador Sales, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

154 Citations (Scopus)
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This article presents a technique to reconstruct the shape of a flexible instrument in three dimensional Euclidean space based on data from Fiber Bragg Gratings (FBG) that are inscribed in multi-core fibers. Its main contributions are the application of several multi-core fibers with FBGs as shape sensor for medical instruments and a thorough presentation of the reconstruction technique. The data from the FBG sensors is first converted to strain measurements, which is then used to calculate the curvature and torsion of the fibers. The shape of the instrument is reconstructed using Frenet-Serret equations in conjunction with the calculated curvature and torsion of the instrument. The reconstruction technique is validated with a catheter sensorized with 4 multi-core fibers that have FBG sensors. The catheter is placed in 8 different configurations and the reconstruction is compared to the ground truth. The maximum reconstruction error among all the configurations is found to be 1.05 mm. The results show that shape sensing for flexible medical instruments is feasible with FBG sensors in multicore fibers.
Original languageEnglish
Article number8667346
Pages (from-to)5878-5884
Number of pages7
JournalIEEE sensors journal
Issue number14
Early online date14 Mar 2019
Publication statusPublished - 15 Jul 2019


  • Fiber Bragg grating
  • bio-medical
  • robotics
  • shape sensing
  • medical instrument
  • 3D reconstruction
  • multi-core optical fiber


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