相关论文: Single-Fiber Optical Frequency Domain Reflectometr…
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
This paper introduces a novel shape-sensing approach for Concentric Tube Steerable Drilling Robots (CT-SDRs) based on Optical Frequency Domain Reflectometry (OFDR). Unlike traditional FBG-based methods, OFDR enables continuous strain…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots,…
Fiber optic shape sensors have enabled unique advances in various navigation tasks, from medical tool tracking to industrial applications. Eccentric fiber Bragg gratings (FBG) are cheap and easy-to-fabricate shape sensors that are often…
Purpose: Endovascular aortic repair procedures are currently conducted with 2D fluoroscopy imaging. Tracking systems based on fiber Bragg gratings are an emerging technology for the navigation of minimal-invasive instruments which can…
Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of…
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of…
Shape tracking of medical devices using strain sensing properties in optical fibers has seen increased attention in recent years. In this paper, we propose a novel guidance system for intra-arterial procedures using a distributed strain…
Tracking and controlling the shape of continuum dexterous manipulators (CDM) in constraint environments is a challenging task. The imposed constraints and interaction with unknown obstacles may conform the CDM's shape and therefore demands…
In this paper, we report the model and the experimental demonstration of a new optical resonator formed by inserting a Fiber Bragg Grating (FBG) in a closed fiber loop. The spectral characteristics of the ring depend on the reflectivity of…
We demonstrate a photon-counting optical time-domain reflectometry with 42.19 dB dynamic range using an ultra-low noise up-conversion single photon detector. By employing the long wave pump technique and a volume Bragg grating, we reduce…
We report fabrication of THz fiber Bragg gratings (TFBG) using CO2 laser inscription on subwavelength step-index polymer fibers. A fiber Bragg grating with 48 periods features a ~4 GHz-wide stop band and ~15 dB transmission loss in the…
We show R&D results including long term stability, resolution, radiation hardness and characterization of Fiber Grating sensors used to monitor structure deformation, repositioning and surveying of silicon detector in High Energy Physics.
We show that the use of Random Optical Grating using UV Exposure (ROGUE) can significantly reduce the noise floor of an optical frequency domain reflectometry (OFDR) measurement of Faraday rotation in the polarization. We compare it with…
We introduce a novel shape-sensing method using Resistive Flex Sensors (RFS) embedded in cable-driven Continuum Dexterous Manipulators (CDMs). The RFS is predominantly sensitive to deformation rather than direct forces, making it a…
Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like…
Ultra-thin multimode optical fiber imaging promises next-generation medical endoscopes reaching high image resolution for deep tissues. However, current technology suffers from severe optical distortion, as the fiber's calibration is…
Monitoring the optical phase change in a fiber enables a wide range of applications where fast phase variations are induced by acoustic signals or vibrations in general. However, the quality of the estimated fiber response strongly depends…
A method for the agile generation of the optical frequencies required for laser cooling and atom interferometry of rubidium is demonstrated. It relies on fiber Bragg grating technology to filter the output of an electro-optic modulator and…