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Shape sensing techniques for continuum robots in minimally invasive surgery: a survey

Shi, Chaoyang, Luo, Xiongbiao, Qi, Peng, Li, Tianliang, Song, Shuang, Najdovski, Zoran, Fukuda, Toshio and Ren, Hongliang 2016, Shape sensing techniques for continuum robots in minimally invasive surgery: a survey, IEEE transactions on biomedical engineering, pp. 1-15, doi: 10.1109/TBME.2016.2622361.

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Title Shape sensing techniques for continuum robots in minimally invasive surgery: a survey
Author(s) Shi, Chaoyang
Luo, Xiongbiao
Qi, Peng
Li, Tianliang
Song, Shuang
Najdovski, ZoranORCID iD for Najdovski, Zoran
Fukuda, Toshio
Ren, Hongliang
Journal name IEEE transactions on biomedical engineering
Start page 1
End page 15
Total pages 15
Publisher Institute of Electrical and Electronics Engineers
Place of publication Piscataway, N.J.
Publication date 2016
ISSN 0018-9294
Keyword(s) Shape sensing
shape reconstruction
fiber Bragg grating
continuum robot
electromagnetic tracking
intraoperative imaging modalities
Summary Continuum robots provide inherent structural
compliance with high dexterity to access the surgical target sites
along tortuous anatomical paths under constrained
environments, and enable to perform complex and delicate
operations through small incisions in minimally invasive surgery.
These advantages enable their broad applications with minimal
trauma, and make challenging clinical procedures possible with
miniaturized instrumentation and high curvilinear access
capabilities. However, their inherent deformable designs make it
difficult to realize three-dimensional (3D) intraoperative real-
time shape sensing to accurately model their shape. Solutions to
this limitation can lead themselves to further develop closely
associated techniques of closed-loop control, path planning,
human–robot interaction and surgical manipulation safety
concerns in minimally invasive surgery. Although extensive
model-based research that relies on kinematics and mechanics
has been performed, accurate shape sensing of continuum robots
remains challenging, particularly in cases of unknown and
dynamic payloads. This survey investigates the recent advances
in alternative emerging techniques for 3D shape sensing in this
field, and focuses on the following categories: fiber optic sensors
based, electromagnetic tracking based and intraoperative
imaging modalities based shape reconstruction methods. The
limitations of existing technologies and prospects of new
technologies are also discussed.
Notes In press
Language eng
DOI 10.1109/TBME.2016.2622361
Field of Research 0903 Biomedical Engineering
0906 Electrical And Electronic Engineering
0801 Artificial Intelligence And Image Processing
Socio Economic Objective 0 Not Applicable
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2016, IEEE
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Document type: Journal Article
Collection: Centre for Intelligent Systems Research
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