A highly sensitive fiber Bragg Grating shape sensor for continuum manipulators with large deflections

Fiber Bragg Grating (FBG) sensors are proposed for medical applications, especially for shape sensing of continuum manipulators due to their numerous advantages over other types of sensors. In this paper, we design, fabricate, and evaluate a novel FBG sensor assembly addressing challenges associated with integration with continuum manipulators. Experimental results with the new FBG sensor demonstrated detection of small radii of curvatures (20 mm), high sensitivity (up to 8 nm wavelength shift in each direction of bend), and calibration repeatability (RMS error of 92 picometer) leading to a high signal to noise ratio for the proposed easy-to-fabricate sensor.