Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey. Shi, C., Luo, X., Qi, P., Li, T., Song, S., Najdovski, Z., Fukuda, T., & Ren, H. IEEE Transactions on Biomedical Engineering, 64(8):1665–1678, August, 2017. doi abstract bibtex 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 3-D 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 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking-based, and intraoperative imaging modality-based shape-reconstruction methods. The limitations of existing technologies and prospects of new technologies are also discussed.
@article{shi_shape_2017,
title = {Shape {Sensing} {Techniques} for {Continuum} {Robots} in {Minimally} {Invasive} {Surgery}: {A} {Survey}},
volume = {64},
issn = {0018-9294},
shorttitle = {Shape {Sensing} {Techniques} for {Continuum} {Robots} in {Minimally} {Invasive} {Surgery}},
doi = {10.1109/TBME.2016.2622361},
abstract = {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 3-D 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 3-D shape sensing in this field and focuses on the following categories: fiber-optic-sensor-based, electromagnetic-tracking-based, and intraoperative imaging modality-based shape-reconstruction methods. The limitations of existing technologies and prospects of new technologies are also discussed.},
number = {8},
journal = {IEEE Transactions on Biomedical Engineering},
author = {Shi, C. and Luo, X. and Qi, P. and Li, T. and Song, S. and Najdovski, Z. and Fukuda, T. and Ren, H.},
month = aug,
year = {2017},
keywords = {3D intraoperative real-time shape sensing, Continuum robot, Equipment Design, Equipment Failure Analysis, Image reconstruction, Minimally Invasive Surgical Procedures, Monitoring, Intraoperative, Needles, Optical fiber sensors, Robot sensing systems, Robotic Surgical Procedures, Shape, Stereotaxic Techniques, Surgery, Computer-Assisted, Technology Assessment, Biomedical, Transducers, biomedical optical imaging, closed loop systems, closed-loop control, continuum robots, deformable designs, electromagnetic (EM) tracking, electromagnetic-tracking-based shape-reconstruction methods, fiber Bragg grating, fiber-optic-sensor-based shape-reconstruction methods, fibre optic sensors, human-robot interaction, image reconstruction, intraoperative imaging modalities, intraoperative imaging modality-based shape-reconstruction methods, medical image processing, medical robotics, miniaturized instrumentation, minimally invasive surgery, path planning, shape reconstruction, shape sensing, surgery, surgical manipulation safety},
pages = {1665--1678}
}
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