Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments using Fiber Bragg Grating Sensors.
Alexander SchwarzArian MehrfardGolchehr AmirkhaniHenry PhalenJustin H. MaRobert B. GruppAlejandro Martin-GomezMehran ArmandPublished in: ICRA (2024)
Keyphrases
- fiber bragg grating
- shape estimation
- inverse kinematics
- high sensitivity
- practical application
- robot manipulators
- shape from shading
- robot arm
- shape modeling
- degrees of freedom
- position and orientation
- motion planning
- control method
- dynamic environments
- minimally invasive surgery
- working principle
- inverse problems
- real time
- control system