Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments using Fiber Bragg Grating Sensors
Alexander Schwarz,Arian Mehrfard,Golchehr Amirkhani,Henry Phalen,Justin H. Ma,Robert B. Grupp,Alejandro Martin Gomez,Mehran Armand,Alexander Schwarz,Arian Mehrfard,Golchehr Amirkhani,Henry Phalen,Justin H. Ma,Robert B. Grupp,Alejandro Martin Gomez,Mehran Armand
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure and non-linear curvature pose significant challenges for shape-based feedback control. The use of Fiber Bragg Grating (FBG) sensors for shape sensing has shown great potential in estimating the CDM’s tip position and su...
