Shape Estimation of Concentric Tube Robots Using Single Point Position Measurement
Emile Mackute,Balint Thamo,Kevin Dhaliwal,Mohsen Khadem,Emile Mackute,Balint Thamo,Kevin Dhaliwal,Mohsen Khadem
Accurate shape estimation of concentric tube robots (CTRs) using mathematical models remains a challenge, reinforcing the need to develop techniques for accurate and real-time shape sensing of CTRs. In this paper, we develop a fusion algorithm that predicts the robot's shape by combining a mathematical model of the CTR with a measurement of the Cartesian coordinates of the robot's tip using an ele...
