TABLE I.
Review of FBG-based continuum manipulator distal-end position estimation (dpe) error by different research groups (cm = continuum manipulator, od = outside diameter, ξ = deflection ratio, κ = curvature, nr = not reported, na = not applicable).
| Research Group | FBG Sensor Design | CM | Free | Constrained | ||||||
|---|---|---|---|---|---|---|---|---|---|---|
| # Fibers (# FBG) | Substrate (OD) | # Sensors | Config. | Length (mm) | Sensor Assembly | DPE (mm) Mean (Std) | ξ (%) κ (m−1) | DPE (mm) Mean (Std) | ξ (%) κ (m−1) | |
| Roesthuis et al. [8] | 3 (4) | NiTi wire (1.0 mm) |
1 | Triangular | 160 | In Backbone | No Calib.: x: 2.04 (1.58) y: 2.03 (1.77) With Calib.: x: 0.96 (0.46) y: 0.44 (0.26) |
18.75 2.37 |
NR | NA |
| Liu et al. [7] | 1 (3) | 2 NiTi wires (0.125 mm) |
2 | Triangular | 35 | In Side Lumen |
0.41 (0.30) | 57.14 50.00 |
0.61 (0.15) 0.93 (0.05) 0.23 (0.1) |
42.86 27.00 |
| Xu et al. [9] | 3 (1) | NiTi tube (2.0 mm) |
1 | Helical | 90 | Wrapped on CM | NR | NA | NR | NA |
| Farvardin et al. [10] | 1 (3) | 2 NiTi wires (0.125 mm) |
2 | Triangular | 35 | In Side Lumen | 1.14 (0.77) 0.81 (0.99) 3.49 (1.13) |
42.86 27.00 |
2.73 (0.77) 0.96 (0.35) |
22.86 14.22 |
| Ryu et al. [11] | 1 (NR) | Polymer tube (1.05 mm) |
1 | Triangular | 80 | Along Substrate |
0.84 (0.62) | 50.39 14.00 |
NR | NA |
| Wei et al. [12] | 1 (4) | NiTi wire (0.3 mm) |
1 | Helical | 110 | Wrapped on CM | NR | NA | NR | NA |
| Chitalia et al. [13] | 1 (1) | NiTi spine (0.57 mm) |
1 | N/A | 20.5 100 |
In Backbone | NR | NA | NR | NA |