High-Resolution Optical Fiber Shape Sensing of Continuum Robots: A Comparative Study
Frederic Monet,Shahriar Sefati,Pierre Lorre,Arthur Poiffaut,Samuel Kadoury,Mehran Armand,Iulian Iordachita,Raman Kashyap,Frederic Monet,Shahriar Sefati,Pierre Lorre,Arthur Poiffaut,Samuel Kadoury,Mehran Armand,Iulian Iordachita,Raman Kashyap
Flexible medical instruments, such as Continuum Dexterous Manipulators (CDM), constitute an important class of tools for minimally invasive surgery. Accurate CDM shape reconstruction during surgery is of great importance, yet a challenging task. Fiber Bragg grating (FBG) sensors have demonstrated great potential in shape sensing and consequently tip position estimation of CDMs. However, due to the...
