SMOF-Based Torsion Compensated Bishop Algorithm for Medical Shape Measurement

摘要

This paper proposes a novel algorithm for threedimensional shape reconstruction and torsion compensation using a spun multi-core optic fiber (SMOF). The torsion-compensation Bishop algorithm (TCBA) addresses torsion in SMOFs and enables accurate coordinate correction. Experimental validation is conducted by arranging the SMOF sensor in controlled helical shapes. The reconstruction accuracy is increased by 10.87%. Additionally, the mean error is reduced from 7.21 mm to 2.50 mm. The algorithm can be used for navigation in flexible robotics and minimally invasive surgery, where precise positioning and manipulation are crucial.