OFDRを用いた単一ファイバによる同心管ステアラブル掘削ロボットの形状センシング
A Single-Fiber Optical Frequency Domain Reflectometry (OFDR)-Based Shape Sensing of Concentric Tube Steerable Drilling Robots
FBGの代わりにOFDRを用いて、同心管ステアラブル掘削ロボットの形状を連続的に計測する手法を提案し、掘削中の形状推定精度を実証した。
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著者: Yash Kulkarni, Mobina Tavangarifard, Daniyal Maroufi, Mohsen Khadem, Justin E. Bird, Jeffrey H. Siewerdsen, Farshid Alambeigi
分類: cs.RO
原文アブストラクト
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 measurement along the entire fiber length with enhanced spatial resolution. In the proposed method, a Shape Sensing Assembly (SSA) is first fabricated by integrating a single OFDR fiber with a flat NiTi wire. The calibrated SSA is then routed through and housed within the internal channel of a flexible drilling instrument, which is guided by the pre-shaped NiTi tube of the CT-SDR. In this configuration, the drilling instrument serves as a protective sheath for the SSA during drilling, eliminating the need for integration or adhesion to the instrument surface that is typical of conventional optical sensor approaches. The performance of the proposed SSA, integrated within the cannulated CT-SDR, was thoroughly evaluated under free-bending conditions and during drilling along multiple J-shaped trajectories in synthetic Sawbones phantoms. Results demonstrate accurate and reliable shape-sensing capability, confirming the feasibility and robustness of this integration strategy.
