On using an array of fiber bragg grating sensors for closed-loop control of flexible minimally invasive surgical instruments

Roy Roesthuis, Sander Janssen, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    53 Citations (Scopus)


    Flexible minimally invasive surgical instruments can be used to target difficult-to-reach locations within the human body. Accurately steering these instruments requires information about the three-dimensional shape of the instrument. In the current study, we use an array of Fiber Bragg Grating (FBG) sensors to reconstruct the shape of a flexible instrument. FBG sensors have several advantages over existing imaging modalities, which makes them well-suited for use in a clinical environment. An experimental testbed is presented in this study, which includes a tendon-driven manipulator. A nitinol FBG-wire is fabricated, on which an array of twelve FBG sensors are integrated, and distributed over four different sets. This wire is positioned in the backbone of the manipulator. Axial strains are measured using the FBG sensors, from which the curvature of the manipulator is calculated. The three-dimensional manipulator shape is reconstructed from the curvature, which is used to steer the manipulator tip. We are able to steer the manipulator along various trajectories (two-dimensional and three-dimensional), and also reject disturbance loads. We observe a minimum mean tracking error of 0.67 mm for the circular trajectory in closed-loop control. This study demonstrates the potential of steering flexible minimally invasive surgical instruments using an array of FBG sensors.
    Original languageUndefined
    Title of host publicationProceeding of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)
    Place of PublicationUSA
    Number of pages7
    Publication statusPublished - 3 Nov 2013
    Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan
    Duration: 3 Nov 20137 Nov 2013

    Publication series

    PublisherIEEE Robotics and Automation Society
    ISSN (Print)2153-0858


    Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
    Abbreviated titleIROS
    Internet address


    • EWI-24462
    • closed loop control
    • shape reconstruction
    • METIS-302702
    • Bragg gratings
    • Minimally invasive surgery
    • Medical robotics
    • IR-89472

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