Development of an Optical Shape Sensing Method Using Optoelectronic Sensors for Soft Flexible Robotic Manipulators in MIS

This paper presents the novel design of an optical shape sensing method using optoelectronic sensors, for integration into flexible soft robotic manipulators, to measure pose in two orientations. Shape sensing in soft robotic tools that allow stable and accurate position control in Minimally Invasive Surgery is critical, although innovations are yet to be explored in a simple, cost-effective sensing technique. Presented in this work is a continuation of the work of Koh et al. (2019), with demonstration of the use of a designed 4-plate tendon-actuated flexible manipulator and optimised design parameters for the sensing principle. Developed calibration platform shows an increase in accuracy for shape sensing using linear and non-linear regression models. Further development is required on miniaturisation to refine accuracy and targeted application.