浏览全部资源
扫码关注微信
1.哈尔滨工业大学 超精密光电仪器工程研究所,黑龙江 哈尔滨 150000
2.南京晓庄学院 电子工程学院,江苏 南京 211171
Received:23 July 2019,
Accepted:17 October 2019,
Published:25 January 2020
移动端阅览
Shi-yuan ZHAO, Meng-meng CHEN. Review on optical fiber shape sensing technology[J]. Optics and precision engineering, 2020, 28(1): 10-29.
Shi-yuan ZHAO, Meng-meng CHEN. Review on optical fiber shape sensing technology[J]. Optics and precision engineering, 2020, 28(1): 10-29. DOI: 10.3788/OPE.20202801.0010.
光纤形状传感技术是近年来光纤传感领域一个新的研究方向,光纤形状传感器利用若干路在空间上具有特定排布的光纤组合在一起测量光纤或与之相连的被测物体的位置和形状。由于它具有不受电磁干扰、易于集成、形状测量精度高的特点,可应用于医疗微创介入手术导管位置追迹、航天领域关键结构体形态测量、长距离管道及缆线变形监测等场合。本文论述了光纤形状传感技术在相关领域的应用,综述了这一技术在国内外的最新研究进展,对光纤形状传感的关键技术进行了详细的介绍,同时分析了现有光纤形状传感技术所面临的主要瓶颈及误差来源。
Shape sensing technology based on optical fibers is a new research direction in the field of optical fiber sensing. In recent years
fiber shape sensors have used several optical fibers with a specific spatial arrangement to measure the position and shape of the fiber or the connected objects. Because it is free from electromagnetic interference
easy to integrate
and has high accuracy in shape measurement
it can be applied to minimally invasive medical interventional catheter position tracking
critical structural shape measurement in the aerospace field
long-distance pipelines
and cable deformation monitoring. This paper discusses the application of fiber shape sensing technology in related fields. It systematically reviews the latest domestic and international research progress on this technology
as well as its key aspects. A detailed introduction is presented
and the major limiting factors and sources of errors in optical fiber shape sensing are summarized.
WANG P, ZHENG Y F, JOHN M, et al .. Catheter tracking via online learning for dynamic motion compensation in transcatheter aortic valve implantation [M]//Medical Image Computing and Computer-Assisted Intervention - MICCAI 2012. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012: 17-24.
SCHMIDT E J, MALLOZZI R P, THIAGALINGAM A, et al .. Electroanatomic mapping and radiofrequency ablation of porcine left atria and atrioventricular nodes using magnetic resonance catheter tracking[J]. Circulation: Arrhythmia and Electrophysiology, 2009, 2(6): 695-704.
邓维.血管微创微创介入手术三维可视化导航技术研究[D].哈尔滨: 哈尔滨工业大学, 2008.
DENG W. Research on 3D Visual Navigation in Minimally Invasive Vascular Surgery [D]. Harbin: Harbin Institute of Technology, 2008. (in Chinese)
TERCERO C, IKEDA S, UCHIYAMA T, et al .. Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery[J]. The International Journal of Medical Robotics and Computer Assisted Surgery , 2007, 3(1): 52-58.
李盛林.用于微创介入手术的导管机器人系统的设计与研究[D].上海: 上海交通大学, 2013.
LI SH L. Design and Research on the Robot for Catheters Used for Interventional [D]. Shanghai: Shanghai Jiao Tong University, 2013. (in Chinese)
王焕然.微创手术导管侧壁触觉传感器的研究[D].哈尔滨: 哈尔滨工程大学, 2008.
WANG H R. Research on Catheter Sidewall Tactile Sensor [D]. Harbin: Harbin Engineering University, 2008. (in Chinese)
WALTERMANN C, KOCH J, ANGELMAHR M, et al .. Fiber-optical 3D Shape Sensing [M]//Planar Waveguides and other Confined Geometries. New York, NY: Springer New York, 2014: 227-250.
翟伟明.影像引导下计算机辅助微创介入手术导航关键技术的研究[D].北京: 清华大学, 2010.
ZHAI W M. Research on Image Guided Computer-Assisted Intervention Surgery Navigation [D]. Beijing: Tsinghua University, 2010. (in Chinese)
MORIMOTO M, NUMATA K, KONDO M, et al .. C-arm cone beam CT for hepatic tumor ablation under real-time 3D imaging[J]. American Journal of Roentgenology, 2010, 194(5): W452-W454.
PARK Y L, ELAYAPERUMAL S, DANIEL B, et al .. Real-time estimation of 3-D needle shape and deflection for MRI-guided interventions [J]. IEEE/ASME Transactions on Mechatronics , 2010, 15(6):906-915.
LI M, LI G, GONENC B, et al .. Towards human-controlled, real-time shape sensing based flexible needle steering for MRI-guided percutaneous therapies[J]. The International Journal of Medical Robotics and Computer Assisted Surgery , 2017, 13(2):e1762.
GUO J Z, AZIMI E, GONENC B, et al .. MRI-guided needle steering for targets in motion based on Fiber Bragg Grating sensors[C]// 2016 IEEE SENSORS, October 30-November 3, 2016. Orlando, FL, USA. New York, USA: IEEE , 2016.
HEIDEN M S, HENKEN K R, CHEN L K, et al .. Accurate and efficient fiber optical shape sensor for MRI compatible minimally invasive instruments [C]. Optical Systems Design 2012.International Society for Optics and Photonics , 2012, 8550: 85500L.
FROGGATT M E, DUANCAN R G. Fiber optic position and/or shape sensing based on Rayleigh scatter: US, US7772541 [P].2010.
Ironmeans[Z/OL]. https://www.intuitive.com/en-us/products-and-services/ion https://www.intuitive.com/en-us/products-and-services/ion .2019-12
王伟, 周洲, 祝小平, 等.几何大变形太阳能无人机非线性气动弹性稳定性研究[J].西北工业大学学报, 2015, 33(1):1-8.
WANG W, ZHOU ZH, ZHU X P, et al .. Exploring aeroelastic stability of very flexible solar powered UAV with geometrically large deformation [J]. Journal of Northwestern Polytechnical University , 2015, 33(1):1-8. (in Chinese)
PENA F, RICHARDS L, PARKER JR A R, et al .. Fiber Optic Sensing System (FOSS) Technology-A New Sensor Paradigm for Comprehensive Structural Monitoring and Model Validation Throughout the Vehicle Life-Cycle [EB/OL]. https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20160001157.pdf. https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20160001157.pdf. 2015.
EVAN M L, MATT R, EMILY H, et al .. Fiber optic shape sensing for monitoring of flexible structures [C]. Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2012. International Society for Optics and Photonics, 2012, 8345: 83452Y.
BURGNER-KAHRS J, RUCKER D C, CHOSET H. Continuum robots for medical applications: A survey [J]. IEEE Transactions on Robotics , 2015, 31(6):1261-1280.
朱晓锦, 陆美玉, 赵晓瑜, 等.太空机械臂振动形态三维重构算法及可视化分析[J].系统仿真学报, 2009, 21(15):4706-4713.
ZHU X J, LU M Y, ZHAO X Y, et al .. 3D-reconstruction algorithm and visualization analysis for space manipulator vibration shape [J]. Journal of System Simulation , 2009, 21(15):4706-4713. (in Chinese)
何彦霖, 张旭, 孙广开, 等.复合基底柔性光纤曲率传感器设计[J].光学 精密工程, 2019, 27(6): 1270-1276.
HE Y L, ZHANG X, SUN G K, et al .. Flexible curvature sensor based on composite substrate [J]. Opt. Precision Eng ., 2019, 27(6): 1270-1276. (in Chinese)
孙广开, 曲道明, 闫光, 等.软体气动驱动器弯曲变形光纤传感与形状重构[J].光学 精密工程, 2019, 27(5): 1052-1059.
SUN G K, QU D M, YAN G, et al .. Bending deformation of optical fiber sensing and shape reconstruction of soft pneumatic driver [J]. Opt. Precision Eng ., 2019, 27(5): 1052-1059. (in Chinese)
DAVIS M A, MALINOWSKI E, CHEVALIER J L, et al .. Body shape, position, and posture recognition suit with multi-core optical shape sensing fiber: US, US9304018 [P]. 2015-05-07.
JANG M, KIM J S, KANG K, et al .. Towards finger motion capture system using FBG sensors [C]. 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). IEEE , 2018: 3734-3737.
RTS125+Real-Time Fiber Optic Sensing [EB/OL]. https://www.sensuron.com/rts125/ https://www.sensuron.com/rts125/
https://www.sensuron.com/industries/medical/ https://www.sensuron.com/industries/medical/
https://lunainc.com/growth-area/technology-development/optical-systems/ https://lunainc.com/growth-area/technology-development/optical-systems/
董少博.光纤超声波传感器用于非接触式桥梁动挠度监测技术的研究[D].南京: 东南大学, 2017.
DONG SH B. Study on Non-Contact Monitoring Technology for Bridge Dynamic Deflection Based on Optical Fiber Ultrasonic Sensor [D]. Nanjing: Southeast University, 2017. (in Chinese)
HOFFMAN J, WATERS D H, KHADKA S, et al .. Shape sensing of polymer core composite electrical transmission lines using FBG sensors[J]. IEEE Transactions on Instrumentation and Measurement , 2019: 1-9.
GeoSpectrum Technologies to showcase towed reelable active passive sonar (TRAPS) at CANSEC 2018[Z/OL]. https://defpost.com/geospectrum-technologies-showcase-towed-reelable-active-passive-sonar-traps-cansec-2018/ https://defpost.com/geospectrum-technologies-showcase-towed-reelable-active-passive-sonar-traps-cansec-2018/
LI C Y, JIANG J J, DUAN F J, et al .. Towed array shape estimation based on single or double near-field calibrating sources[J]. Circuits, Systems, and Signal Processing , 2019, 38(1): 153-172.
HOWARD B E, SYCK J M. Calculation of the shape of a towed underwater acoustic array[J]. IEEE Journal of Oceanic Engineering , 1992, 17(2): 193-203.
ROESTHUIS R J, KEMP M, VAN DEN DOBBELSTEEN J J, et al .. Three-dimensional needle shape reconstruction using an array of fiber Bragg grating sensors[J]. ASME Transactions on Mechatronics , 2014, 19(4): 1115-1126.
章亚男, 范迪, 沈林勇, 等. FBG细径形状传感器的应变传递和精度实验[J].光学 精密工程, 2019, 27(7): 1481-1491.
ZHANG Y N, FAN D, SHEN L Y, et al .. Strain transmission and accuracy experiment of fiber grating small diameter shape sensor [J]. Opt. Precision Eng ., 2019, 27(7): 1481-1491. (in Chinese)
RYU S C, DUPONT P E. FBG-based shape sensing tubes for continuum robots[C]// 2014 IEEE International Conference on Robotics and Automation (ICRA), May 31-June 7, 2014. Hong Kong, China. New York, USA: IEEE, 2014: 3531-3537.
PAUER H, LEDERMANN C, WEEDE O, et al .. Towards building a miniaturized shape sensor: Building process of a shape sensor for use in single port surgery[C]// 2013 Seventh International Conference on Sensing Technology (ICST), December 3-5, 2013. Wellington, New Zealand. New York, USA: IEEE, 2013: 549-554.
PARENT F, LORANGER S, MANDAL K K, et al .. Enhancement of accuracy in shape sensing of surgical needles using optical frequency domain reflectometry in optical fibers[J]. Biomedical Optics Express, 2017, 8(4): 2210-2221.
沈林勇, 肖海, 钱晋武, 等.智能内窥镜的形状重建和可视化方法研究[J].仪器仪表学报, 2014, 35(12): 2725-2730.
SHEN L Y, XIAO H, QIAN J W, et al .. Shape reconstruction and visualization of intelligent endoscope [J]. Chinese Journal of Scientific Instrument , 2014, 35(12):2725-2730. (in Chinese)
https://www.fibercore.com/product-category/multicore https://www.fibercore.com/product-category/multicore
MOORE J P. Shape sensing using multi-core fiber[C]// Optical Fiber Communication Conference, Los Angeles, California. Washington, D.C.: OSA, 2015: 1-3.
MOORE J P, ROGGE M D. Shape sensing using multi-core fiber optic cable and parametric curve solutions[J]. Optics Express , 2012, 20(3):2967-2973.
HENKEN K R, DANKELMAN J, VAN DEN DOBBELSTEEN J J, et al .. Error analysis of FBG-based shape sensors for medical needle tracking[J]. ASME Transactions on Mechatronics , 2014, 19(5): 1523-1531.
皇家飞利浦有限公司.用于将光学形状感测使能设备中的光纤扭曲最小化的系统和方法: 中国, CN105612447A[P].2016-05-25.
Royal Philips Ltd. Co. System and methods for minimizing twist of optical fiber in optical shape sensing enablers: China, CN105612447A[P]. 2016-05-25. (in Chinese)
ASKINS C G, MILLER G A, FRIEBELE E J. Bend and twist sensing in a multiple-core optical fiber [C]// OFC/NFOEC 2008 - 2008 Conference on Optical Fiber Communication/National Fiber Optic Engineers Conference, February 24-28, 2008. San Diego, CA, USA. New York, USA: IEEE , 2008.
https://www.fibercore.com/product-category/multicore https://www.fibercore.com/product-category/multicore
WESTBROOK P S, KREMP T, FEDER K S, et al .. Continuous multicore optical fiber grating arrays for distributed sensing applications [J]. Journal of Lightwave Technology , 2017, 35(6):1248-1252.
WOLF A, DOSTOVALOV A, BRONNIKOV K, et al ..Arrays of fiber Bragg gratings selectively inscribed in different cores of 7-core spun optical fiber by IR femtosecond laser pulses[J]. Optics Express , 2019, 27(10): 13978.
XU R, YURKEWICH A, PATEL R V. Curvature, torsion, and force sensing in continuum robots using helically wrapped FBG sensors [J] . IEEE Robotics and Automation Letters , 2016, 1(2):1052-1059.
WALTERMANN C, DOERING A, KÖHRING M, et al .. Cladding waveguide gratings in standard single-mode fiber for 3D shape sensing[J]. Optics Letters, 2015, 40(13): 3109-2112.
代勇波.光纤光栅传感特性与多点复用技术研究[D].哈尔滨: 哈尔滨工业大学, 2012.
DAI Y B. Study on Fibre Bragg Grating Sensing Characteristics and Multipoint Multiplexing Technology [D]. Harbin: Harbin Institute of Technology, 2012. (in Chinese)
BAO X Y, CHEN L. Recent progress in distributed fiber optic sensors[J]. Sensors, 2012, 12(7): 8601-8639.
TOSI D, SCHENA E, MOLARDI C, et al .. Fiber optic sensors for sub-centimeter spatially resolved measurements: Review and biomedical applications[J]. Optical Fiber Technology , 2018, 43: 6-19.
PARENT F, MANDAL K K, LORANGER S, et al .. 3D shape tracking of minimally invasive medical instruments using optical frequency domain reflectometry [C]. Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling. International Society for Optics and Photonics, 2016, 9786: 97862J.
GUI X, LI Z Y, WANG F, et al .. Distributed sensing technology of high-spatial resolution based on dense ultra-short FBG array with large multiplexing capacity[J]. Optics Express , 2017, 25(23): 28112-28122.
MURAYAMA H, IGAWA H, KAGEYAMA K, et al .. Distributed strain measurement with high spatial resolution using fiber Bragg gratings and optical frequency domain reflectometry [C]// Optical Fiber Sensors, Cancún, Mexico. Washington, D.C.: OSA, 2006.
MURAYAMA H, KAGEYAMA K, UZAWA K, et al .. Strain monitoring of a single-lap joint with embedded fiber-optic distributed sensors[J]. Structural Health Monitoring: an International Journal , 2012, 11(3): 325-344.
THEVENAZ L, CHIN S, SANCHO J, et al .. Novel technique for distributed fibre sensing based on faint long gratings (FLOGs) [C]. 23rd International Conference on Optical Fibre Sensors. International Society for Optics and Photonics , 2014, 9157: 91576W.
RICCHIUTI A L, HERVÁS J, SALES S. Cascade FBGs distributed sensors interrogation using microwave photonics filtering techniques[J]. Optics & Laser Technology , 2016, 77: 144-150.
孙杰.光学低相干反射技术在FBG检测中的应用研究[D].杭州: 中国计量学院, 2015.
SUN J. The Optical Low Coherence Reflectometry Applied in the Fiber Bragg Grating Sensing [D]. Hangzhou: China Jiliang University, 2015. (in Chinese)
FROGGATT M, MOORE J. High-spatial-resolution distributed strain measurement in optical fiber with Rayleigh scatter[J]. Applied Optics , 1998, 37(10):1735-1740.
丁振扬.几种改进OFDR性能方法的提出及验证[D].天津: 天津大学, 2013.
DING ZH Y. Methods for Improving OFDR Performances and their Experimental Verifications [D].Tianjin: Tianjin University, 2013. (in Chinese)
徐兴贤.基于OFDR系统的分布式应力传感技术的研究[D].成都: 电子科技大学, 2016.
XU X X. The Research on Distributed Stress Sensing Based on Optical Frequency Domain Reflectometry [D].Chengdu: University of Electronic Science and Technology of China, 2016. (in Chinese)
CUI J W, ZHAO S, YANG D, et al .. Investigation of the interpolation method to improve the distributed strain measurement accuracy in optical frequency domain reflectometry systems [J]. Applied Optics, 2018 57(6):1424-1431.
WANG C J, LI Z Y, GUI X, et al .. Micro-cavity array with high accuracy for fully distributed optical fiber sensing[J]. Journal of Lightwave Technology, 2019, 37(3): 927-932.
ZHANG Z P, FAN X Y, HE Z Y. Long-range distributed static strain sensing with < 100 nano-strain resolution realized using OFDR[J]. Journal of Lightwave Technology, 2019, 37(18): 4590-4596.
BEISENOVA A, ISSATAYEVA A, IORDACHITA I, et al .. Distributed fiber optics 3D shape sensing by means of high scattering NP-doped fibers simultaneous spatial multiplexing[J]. Optics Express , 2019, 27(16): 22074.
GIFFORD D K, FROGGATT M E, KREGER S T. High precision, high sensitivity distributed displacement and temperature measurements using OFDR-based phase tracking [C] . 21st International Conference on Optical Fiber Sensors. International Society for Optics and Photonics, 2011, 7753: 77533I.
GIFFORD D K, FROGGATT M E, SANG A K, et al .. Multiple fiber loop strain rosettes in a single fiber using high resolution distributed sensing[J]. IEEE Sensors Journal , 2012, 12(1): 55-63.
ZHAO Z, SOTO M A, TANG M, et al .. Distributed shape sensing using Brillouin scattering in multi-core fibers [J]. Optics Express, 2016, 24(22):25211-25223.
傅程.基于分布式布里渊光时域分析技术的形状传感研究[D].哈尔滨: 哈尔滨工业大学, 2017.
FU CH. Shape Sensing Based on Distributed Brillouin Optical [D]. Harbin: Harbin Institution of Technology, 2017. (in Chinese)
GUO Z, XING C, KE C J, et al .. 3D shape sensing utilizing SBS in multi-core fiber[C]// Optical Fiber Communication Conference (OFC) 2019, San Diego, California. Washington, D.C.: OSA, 2019.
ZAFEIROPOULOU A, MASOUDI A, COOPER L, et al .. Distributed shape sensing with a multicore fibre based on BOTDR technique[C]// 26th International Conference on Optical Fiber Sensors, Lausanne. Washington, D.C.: OSA , 2018.
SZOSTKIEWICZ Ł, SOTO M A, YANG Z S, et al .. High-resolution distributed shape sensing using phase-sensitive optical time-domain reflectometry and multicore fibers[J]. Optics Express , 2019, 27(15): 20763-20773.
BERNINI R, MINARDO A, ZENI L. Distributed sensing at centimeter-scale spatial resolution by BOFDA: measurements and signal processing [J]. IEEE Photonics Journal , 2012, 4(1): 48-56.
LI W H, BAO X Y, LI Y, et al .. Differential pulse-width pair BOTDA for high spatial resolution sensing [J]. Optics Express , 2008, 16(26): 21616-21625.
HOTATE K. Brillouin optical correlation-domain technologies based on synthesis of optical coherence function as fiber optic nerve systems for structural health monitoring[J]. Applied Sciences , 2019, 9(1):187.
ROESTHUIS R J, ABAYAZID M, MISRA S. Mechanics-based model for predicting in-plane needle deflection with multiple bends[C]// 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 24-27, 2012. Rome, Italy. New York, USA: IEEE , 2012: 69-74.
MISRA S, REED K B, SCHAFER B W, et al .. Mechanics of flexible needles robotically steered through soft tissue [J]. The International Journal of Robotics Research , 2010, 29(13): 1640-1660.
LANGER J, SINGER D A. Lagrangian aspects of the Kirchhoff elastic rod[J]. SIAM Review , 1996, 38(4): 605-618.
TODD M D, STULL C J, DICKERSON M. A local material basis solution approach to reconstructing the three-dimensional displacement of rod-like structures from strain measurements[J]. Journal of Applied Mechanics , 2013, 80(4): 041028.
TODD M D, STULL C J, DICKERSON M. A locally exact strain-to-displacement approach for shape reconstruction of slender objects using Fiber Bragg gratings [C]. Smart Sensor Phenomena, Technology, Networks, and Systems Integration 2013. International Society for Optics and Photonics, 2013, 8693: 869302.
LIM S, HAN S. Helical extension method for solving the natural equation of a space curve [J]. Surface Topography: Metrology and Properties, 2017, 5(3):035002.
LIM S, HAN S. Shape estimation of a bent and twisted cylinder using strain from a sensor array in triple helices [J]. Measurement Science and Technology , 2018, 29(9): 095003.
朱晓锦, 陆美玉, 赵晓瑜, 等.太空机械臂振动形态三维重构算法及可视化分析[J].系统仿真学报, 2009, 21(15): 4706-4709.
FU X J, LU M Y, ZHAO X Y, et al .. 3D-reconstruction algorithm and visualization analysis for space manipulator vibration shape [J]. Journal of System Simulation , 2009, 21(15): 4706-4709. (in Chinese)
CUI J W, ZHAO S Y, YANG C Q, et al .. Parallel transport frame for fiber shape sensing[J]. IEEE Photonics Journal , 2018, 10(1): 1-12.
JÄCKLE S, EIXMANN T, SCHULZ-HILDEBRANDT H, et al .. Fiber optical shape sensing of flexible instruments for endovascular navigation [J]. International Journal of Computer Assisted Radiology and Surgery , 2019, 14(12): 2137-2145.
HENKEN K R, DANKELMAN J, van den DOBBELSTEEN J J, et al .. Error analysis of FBG-based shape sensors for medical needle tracking[J]. IEEE/ASME Transactions on Mechatronics, 2014, 19(5):1523-1531.
HOOFT G W, TIRARD-GATEL A. Simulations on 3D shape tracking with Fibre Bragg gratings[R]. Philips Research , 2010.
PAUER H, LEDERMANN C, TUSCHMANN W, et al .. Consistent quality evaluation method for shape sensors based on FBG-optical fibers used in minimally invasive surgery [C]. Sensors and Measuring Systems 2014; 17. ITG/GMA Symposium; Proceedings of VDE , 2014: 1-6.
FLORIS I, SALES S, CALDERÓN P A, et al .. Measurement uncertainty of multicore optical fiber sensors used to sense curvature and bending direction [J]. Measurement, 2019, 132: 35-46.
FLORIS I, CALDERÓN P A, SALES S, et al .. Effects of core position uncertainty on optical shape sensor accuracy[J]. Measurement, 2019, 139: 21-33.
ROGGE M D, MOORE J P. Shape sensing using a multi-core optical fiber having an arbitrary initial shape in the presence of extrinsic forces: US, US8746076 [P].2014.
LALLY E M, WHITE M, REAVES M T, et al .. Methods and apparatus segmented calibration of a sensing optical fiber: US, US9606021[P]. 2016-05-26.
0
Views
510
下载量
19
CSCD
Publicity Resources
Related Articles
Related Author
Related Institution