Miniature Fibre-Optic based Shape Sensing for Robotic Applications using Curved Reflectors

continuum-robots, prosthetic devices and wearable body-shape sensors. A miniaturised one-degree-of-freedom joint-angle sensor is devised, using a single light emitting/receiving optical fibre with a coupler connected to a Keyence (FS-N11MN, Osaka, Japan) sensor that supplies and detects light through the optical fibres. A curvature-varying reflective surface integrated in the joint demonstrates non-contact light intensity-based sensing. Various reflector geometries and surface colours are designed to compare sensor output for achieving a large angle range and improved sensitivity for the proposed miniaturised robotic shape-sensing applications.

Gel-OPTOFORT Sensor: Multi-axis Force/Torque Measurement and Geometry Observation Using GelSight and Optoelectronic Sensor Technology

Although conventional GelSight-based tactile and force/torque sensors excel in detecting objects' geometry and texture information while simultaneously sensing multi-axis forces, their performance is limited by the camera's lower frame rates and the inherent properties of the elastomer. These limitations restrict their ability to measure higher force ranges at high sampling frequencies. Besides, due to the coupling of the Gelsight sensor unit and multi-axis force/torque unit structurally, the force/torque measurement ranges of the Gelsight-based force/torque sensors are not adjustable. To address these weaknesses, this paper proposes the GEL-OPTOFORT sensor that combines a GelSight sensor and an optoelectronic sensor-based force/torque sensor.

Shape Sensing for Continuum Robotics using Optoelectronic Sensors with Convex Reflectors

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 required to manipulate through fragile paths. This challenge has been addressed using a range of different sensing techniques, for example, Fibre Bragg grating (FBG) technology, inertial measurement unit (IMU) sensor networks or stretch sensors. Previously, an optics-based method, using optoelectronic sensors was explored, offering a simple and cost-effective solution for shape sensing in a flexible tendon-actuated manipulator in two orientations. This was based on proximity-modulated angle estimation and has been the basis for the shape-sensing method addressed in this paper. The improved and miniaturized technique demonstrated in this paper is based on the use of a spherically shaped reflector with optoelectronic sensors integrated into a tendon actuated robotic manipulator. Upgraded sensing capability is achieved using optimization of the spherical reflector shape in terms of sensor range and resolution, and improved calibration is achieved through the integration of spherical bearings for friction-free motion. Shape estimation is achieved in two orientations upon calibration of sensors, with a maximum Root Mean Square Error (RMS) of 3.37{\deg}.

Mechanically Powered Motion Imaging Phantoms: Proof of Concept

Motion imaging phantoms are expensive, bulky and difficult to transport and set-up. The purpose of this paper is to demonstrate a simple approach to the design of multi-modality motion imaging phantoms that use mechanically stored energy to produce motion. We propose two phantom designs that use mainsprings and elastic bands to store energy. A rectangular piece was attached to an axle at the end of the transmission chain of each phantom, and underwent a rotary motion upon release of the mechanical motor. The phantoms were imaged with MRI and US, and the image sequences were embedded in a 1D non linear manifold (Laplacian Eigenmap) and the spectrogram of the embedding was used to derive the angular velocity over time. The derived velocities were consistent and reproducible within a small error. The proposed motion phantom concept showed great potential for the construction of simple and affordable motion phantoms

Robotic-assisted Ultrasound for Fetal Imaging: Evolution from Single-arm to Dual-arm System

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND). After a brief review of the development history of the extracorporeal ultrasound robotic system used for fetal and abdominal examinations, the specific aim of the iFIND robots, the design evolution, the implementation details of each version, and the initial clinical feedback of the iFIND robot series are presented. Based on the preliminary testing of these newly-proposed robots on 42 volunteers, the successful and re-liable working of the mechatronic systems were validated. Analysis of a participant questionnaire indicates a comfortable scanning experience for the volunteers and a good acceptance rate to being scanned by the robots.