Simultaneous Estimation of Shape and Force along Highly Deformable Surgical Manipulators Using Sparse FBG Measurement.
Yiang LuBin LiWei ChenJunyan YanShing Shin ChengJiangliu WangJianshu ZhouQi DouYun-Hui LiuPublished in: ICRA (2024)
Keyphrases
- shape estimation
- degrees of freedom
- high dimensional
- dense motion estimation
- deformable surface
- deformable models
- contact force
- external force
- articulated objects
- shape descriptors
- shape features
- shape model
- maximum likelihood criterion
- shape recovery
- intraoperative
- minimally invasive
- deformable shapes
- master slave
- path planning
- vector field
- measurement error
- shape analysis
- force field
- adaptive control
- motion planning
- shape representation