Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement
Yiang Lu,Bin Li,Wei Chen,Junyan Yan,Shing Shin Cheng,Jiangliu Wang,Jianshu Zhou,Qi Dou,Yun-Hui Liu,Yiang Lu,Bin Li,Wei Chen,Junyan Yan,Shing Shin Cheng,Jiangliu Wang,Jianshu Zhou,Qi Dou,Yun-Hui Liu
Recently, fiber optic sensors such as fiber Bragg gratings (FBGs) have been widely investigated for shape reconstruction and force estimation of flexible surgical robots. However, most existing approaches need precise model parameters of FBGs inside the fiber and their alignments with the flexible robots for accurate sensing results. Another challenge lies in online acquiring external forces at ar...
