Ultrasound Wire Shape Sensing Without Line of Sight
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Solution Overview
Problem
Existing methods for measuring the shape of thin wires, such as those used in soft robotic manipulators or medical guidewires, are often expensive, bulky, fragile, or require complex optical techniques that lack flexibility and precision.
Innovation Solution
A system using ultrasound waves is employed to sense wire shape by distributing reflection sites along the wire, where an ultrasound transducer generates and receives signals to determine wire shape data, leveraging machine learning to reconstruct the wire's geometry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical techniques such as laser scanning or CT are used for shape sensing, then measurement capability is provided, but direct line-of-sight requirement and external point of view limitation make them unsuitable for remote sensing applications
Solution Approach 1:
The patent replaces optical measurement techniques with acoustic ultrasound wave propagation. The wire itself acts as an acoustic waveguide, transmitting ultrasound waves along its length. Shape information is encoded in the reflected ultrasound waves, eliminating the need for external optical sensors and direct line-of-sight access. This substitution of acoustic field for optical field enables remote sensing applications.
2Measurement precision
If Fiber Optic Shape Sensing with Bragg gratings is used, then distributed strain sensing is achieved, but the waveguides are fragile, expensive to manufacture, and have resolution limitations
Solution Approach 1:
The patent uses a simple wire structure with embedded surface features that can be easily manufactured using conventional wire drawing and surface treatment processes. The surface features include alternating regions of different materials or surface treatments that create acoustic impedance variations. This approach replaces expensive, complex fiber optic Bragg grating structures with inexpensive wire components that are easier to manufacture and less fragile.
Solution Approach 2:
The patent substitutes optical fiber-based sensing with acoustic wave-based sensing. Instead of using light interacting with Bragg gratings, the system uses ultrasound waves traveling through the wire and interacting with surface features. This acoustic approach achieves distributed strain sensing with potentially better resolution while avoiding the fragility and manufacturing complexity of optical fibers.
3Measurement precision
If distributed strain sensors are used for shape sensing, then shape measurement is enabled, but the sensors can be bulky and require fragile electrical connections
Solution Approach 1:
The patent merges the sensing function directly into the wire structure itself. The wire contains embedded surface features that create acoustic impedance variations, allowing the wire to sense its own shape through acoustic wave reflections. This eliminates the need for separate bulky sensor elements and their associated fragile electrical connections. The sensing capability is integrated into the wire's own structure.
Solution Approach 2:
The patent replaces electrical signal-based sensing with acoustic wave-based sensing. Instead of using electrical signals from separate sensors, the system uses ultrasound waves that travel through the wire and interact with surface features. This acoustic approach enables distributed sensing without requiring electrical connections at each sensing point, eliminating the need for bulky sensors and fragile wiring.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for accurate, real-time, and cost-effective shape sensing of wires, enabling applications in medical procedures and robotic navigation without the need for complex sensors or direct line-of-sight, and reduces manufacturing complexity.
Implementation Method 1
A wire with multiple ultrasound reflection sites distributed along a longitudinal length of the wire, each of the ultrasound reflection sites comprising a surface feature that alters an acoustic impedance at the wire
Implementation Method 2
each of the ultrasound reflection sites comprising a surface feature that alters an acoustic impedance at the wire
Data Source
AI summary
The disclosure relates to techniques for sensing the shape of wires using ultrasound waves. In some implementations, a system includes: a wire, an ultrasound transducer acoustically coupled to the wire, and a processing device. The wire includes ultrasound reflection sites distributed along its longitudinal length, each ultrasound reflection sites including a surface feature that alters an acoustic impedance at the wire. The ultrasound transducer device is configured to: generate an ultrasound wave signal that travels along the longitudinal length and partially reflects from each of the reflection sites; and receive a reflected ultrasound waveform signal including data representative of a partial reflection of the ultrasound signal by each of the ultrasound reflection sites. The processing device is configured to: determine, based on the reflected ultrasound data signal, wire shape data of the wire; and reconstruct, based on the wire shape data, a shape of the wire.