Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG

Hao Wen; Wen Fu; Junlan Dong; Changsheng Li; Xingguang Duan

doi:10.1007/978-981-97-8963-4_2

Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG

Hao Wen, Wen Fu, Junlan Dong, Changsheng Li^*, Xingguang Duan^*

^*此作品的通讯作者

机电学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

摘要

Accurately determining the shape and tip position of puncture needles in surgery is challenging due to the limitations of traditional sensors. This work introduces a Fiber Bragg Grating (FBG) sensor designed for this purpose. The sensor bonding and calibration platforms were developed, and a shape perception algorithm based on differential geometry was implemented. For a 150 mm puncture needle, the average tip positional error was 3.687 mm, with a maximum error of 6.832 mm. Additionally, a flexible hose-based curvature sensor was created for real-time sensing of the needle tip’s curvature. For a 30 mm needle, this sensor achieved an average positional error of 0.244 mm and a maximum error of 0.528 mm.

源语言	英语
主期刊名	Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings
编辑	Shuzhi Sam Ge, Ruihang Ji, Zhuojing Luo, Yanen Wang, Hooman Samani, Hongsheng He
出版商	Springer Science and Business Media Deutschland GmbH
页	11-20
页数	10
ISBN（印刷版）	9789819789627
DOI	https://doi.org/10.1007/978-981-97-8963-4_2
出版状态	已出版 - 2025
活动	16th International Conference on Social Robotics, ICSR + BioMed 2024 - Singapore, 新加坡期限: 16 8月 2024 → 18 8月 2024

出版系列

姓名	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
卷	14916 LNAI
ISSN（印刷版）	0302-9743
ISSN（电子版）	1611-3349

会议

会议	16th International Conference on Social Robotics, ICSR + BioMed 2024
国家/地区	新加坡
市	Singapore
时期	16/08/24 → 18/08/24

访问文件

10.1007/978-981-97-8963-4_2

其它文件与链接

链接到 Scopus 的出版物

引用此

Wen, H., Fu, W., Dong, J., Li, C., & Duan, X. (2025). Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG. 在 S. S. Ge, R. Ji, Z. Luo, Y. Wang, H. Samani, & H. He (编辑), Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings (页码 11-20). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14916 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-97-8963-4_2

Wen, Hao ; Fu, Wen ; Dong, Junlan 等. / Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG. Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings. 编辑 / Shuzhi Sam Ge ; Ruihang Ji ; Zhuojing Luo ; Yanen Wang ; Hooman Samani ; Hongsheng He. Springer Science and Business Media Deutschland GmbH, 2025. 页码 11-20 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG",

abstract = "Accurately determining the shape and tip position of puncture needles in surgery is challenging due to the limitations of traditional sensors. This work introduces a Fiber Bragg Grating (FBG) sensor designed for this purpose. The sensor bonding and calibration platforms were developed, and a shape perception algorithm based on differential geometry was implemented. For a 150 mm puncture needle, the average tip positional error was 3.687 mm, with a maximum error of 6.832 mm. Additionally, a flexible hose-based curvature sensor was created for real-time sensing of the needle tip{\textquoteright}s curvature. For a 30 mm needle, this sensor achieved an average positional error of 0.244 mm and a maximum error of 0.528 mm.",

keywords = "FBG, Puncture needle, Shape sensing sensor",

author = "Hao Wen and Wen Fu and Junlan Dong and Changsheng Li and Xingguang Duan",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.; 16th International Conference on Social Robotics, ICSR + BioMed 2024 ; Conference date: 16-08-2024 Through 18-08-2024",

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doi = "10.1007/978-981-97-8963-4_2",

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series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

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Wen, H, Fu, W, Dong, J, Li, C & Duan, X 2025, Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG. 在 SS Ge, R Ji, Z Luo, Y Wang, H Samani & H He (编辑), Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 卷 14916 LNAI, Springer Science and Business Media Deutschland GmbH, 页码 11-20, 16th International Conference on Social Robotics, ICSR + BioMed 2024, Singapore, 新加坡, 16/08/24. https://doi.org/10.1007/978-981-97-8963-4_2

Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG. / Wen, Hao; Fu, Wen; Dong, Junlan 等.
Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings. 编辑 / Shuzhi Sam Ge; Ruihang Ji; Zhuojing Luo; Yanen Wang; Hooman Samani; Hongsheng He. Springer Science and Business Media Deutschland GmbH, 2025. 页码 11-20 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 卷 14916 LNAI).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG

AU - Wen, Hao

AU - Fu, Wen

AU - Dong, Junlan

AU - Li, Changsheng

AU - Duan, Xingguang

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

PY - 2025

Y1 - 2025

N2 - Accurately determining the shape and tip position of puncture needles in surgery is challenging due to the limitations of traditional sensors. This work introduces a Fiber Bragg Grating (FBG) sensor designed for this purpose. The sensor bonding and calibration platforms were developed, and a shape perception algorithm based on differential geometry was implemented. For a 150 mm puncture needle, the average tip positional error was 3.687 mm, with a maximum error of 6.832 mm. Additionally, a flexible hose-based curvature sensor was created for real-time sensing of the needle tip’s curvature. For a 30 mm needle, this sensor achieved an average positional error of 0.244 mm and a maximum error of 0.528 mm.

AB - Accurately determining the shape and tip position of puncture needles in surgery is challenging due to the limitations of traditional sensors. This work introduces a Fiber Bragg Grating (FBG) sensor designed for this purpose. The sensor bonding and calibration platforms were developed, and a shape perception algorithm based on differential geometry was implemented. For a 150 mm puncture needle, the average tip positional error was 3.687 mm, with a maximum error of 6.832 mm. Additionally, a flexible hose-based curvature sensor was created for real-time sensing of the needle tip’s curvature. For a 30 mm needle, this sensor achieved an average positional error of 0.244 mm and a maximum error of 0.528 mm.

KW - FBG

KW - Puncture needle

KW - Shape sensing sensor

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U2 - 10.1007/978-981-97-8963-4_2

DO - 10.1007/978-981-97-8963-4_2

M3 - Conference contribution

AN - SCOPUS:85214434983

SN - 9789819789627

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 11

EP - 20

BT - Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings

A2 - Ge, Shuzhi Sam

A2 - Ji, Ruihang

A2 - Luo, Zhuojing

A2 - Wang, Yanen

A2 - Samani, Hooman

A2 - He, Hongsheng

PB - Springer Science and Business Media Deutschland GmbH

T2 - 16th International Conference on Social Robotics, ICSR + BioMed 2024

Y2 - 16 August 2024 through 18 August 2024

ER -

Wen H, Fu W, Dong J, Li C, Duan X. Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG. 在 Ge SS, Ji R, Luo Z, Wang Y, Samani H, He H, 编辑, Social Robotics - 16th International Conference, ICSR + BioMed 2024, Proceedings. Springer Science and Business Media Deutschland GmbH. 2025. 页码 11-20. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-97-8963-4_2

Design and Calibration of Puncture Needle Shape Sensing Sensor Based on FBG

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