Curvature

Materials science

Orientation (vector space)

Optical fiber

Telecommunications

Economics

Core (optical fiber)

Computer science

Fiber optic sensor

Acoustics

Photonic-crystal fiber

Physics

Multi-mode optical fiber

Inscribed figure

Mathematics

Optics

Position (finance)

Artificial intelligence

Geometry

Composite material

Fiber

PHOSFOS

Finance

Graded-index fiber

Optoelectronics

Fiber Bragg grating

Computer vision

Frame (networking)

IEEE Sensors Journal

Accurate navigation of flexible medical instruments like catheters require the knowledge of its pose, that is its position and orientation. In this paper multi-core fibers inscribed with fiber Bragg gratings (FBG) are utilized as sensors to measure the pose of a multi-segment catheter. A reconstruction technique that provides the pose of such a fiber is presented. First, the measurement from the Bragg gratings are converted to strain then the curvature is deduced based on those strain calculations. Next, the curvature and the Bishop frame equations are used to reconstruct the fiber. This technique is validated through experiments where the mean error in position and orientation is observed to be less than 4.69 mm and 6.48 degrees, respectively. The main contributions of the paper are the use of Bishop frames in the reconstruction and the experimental validation of the acquired pose.

Pose Measurement of Flexible Medical Instruments Using Fiber Bragg Gratings in Multi-Core Fiber