| 摘要 |
Calibration methods and apparatuses for a shape sensing optical fiber V(300) are disclosed. Strain is sensed in an optical fiber that is associated with a kinematic chain, and information derived from the sensed strain is used to determine a calibration relationship between the fiber and the kinematic chain. The strain may be sensed at a plurality of angles between two links in the kinematic chain. The strain may be sensed in a segment of the optical fiber that is associated with a joint in the kinematic chain as the joint sweeps through an arc. The strain may be sensed for the optical fiber in a known, predefined bend shape. The calibration information is stored in memory for later use during operation of the kinematic chain, so that shape information from the optical fiber can be used to accurately indicate the shape or pose of the kinematic chain. |
