Shape sensing techniques for continuum robots in minimally invasive surgery: A survey
Continuum robots provide inherent structural compliance with high dexterity to access the
surgical target sites along tortuous anatomical paths under constrained environments and …
surgical target sites along tortuous anatomical paths under constrained environments and …
Design and fabrication of concentric tube robots: a survey
Concentric tube robots (CTRs) have drawn significant research attention over the years,
particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small …
particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small …
Continuum robot state estimation using gaussian process regression on se (3)
S Lilge, TD Barfoot… - The International Journal …, 2022 - journals.sagepub.com
Continuum robots have the potential to enable new applications in medicine, inspection,
and countless other areas due to their unique shape, compliance, and size. Excellent …
and countless other areas due to their unique shape, compliance, and size. Excellent …
Design and analysis of a fiber-optic sensing system for shape reconstruction of a minimally invasive surgical needle
This paper presents the performance analysis of the system for real-time reconstruction of
the shape of the rigid medical needle used for minimally invasive surgeries. The system is …
the shape of the rigid medical needle used for minimally invasive surgeries. The system is …
Shape sensing of flexible robots based on deep learning
In this article, a deep learning method for the shape sensing of continuum robots based on
multicore fiber bragg grating (FBG) fiber is introduced. The proposed method, based on an …
multicore fiber bragg grating (FBG) fiber is introduced. The proposed method, based on an …
Learning 3D shape proprioception for continuum soft robots with multiple magnetic sensors
T Baaij, MK Holkenborg, M Stölzle, D Van Der Tuin… - Soft Matter, 2023 - pubs.rsc.org
Sensing the shape of continuum soft robots without obstructing their movements and
modifying their natural softness requires innovative solutions. This letter proposes to use …
modifying their natural softness requires innovative solutions. This letter proposes to use …
Real-time shape estimation for wire-driven flexible robots with multiple bending sections based on quadratic Bézier curves
The wire-driven flexible robot with multiple bending sections is an efficient approach for the
minimally invasive surgery and diagnosis. It can function properly in the complicated and …
minimally invasive surgery and diagnosis. It can function properly in the complicated and …
Robust catheter tracking by fusing electromagnetic tracking, fiber bragg grating and sparse fluoroscopic images
Endovascular catheterization is an intervention which offers a low risk alternative to open
surgery in many patients. Today's interventions rely heavily on fluoroscopic imaging to guide …
surgery in many patients. Today's interventions rely heavily on fluoroscopic imaging to guide …
Shape reconstruction processes for interventional application devices: State of the art, progress, and future directions
Soft and continuum robots are transforming medical interventions thanks to their flexibility,
miniaturization, and multidirectional movement abilities. Although flexibility enables …
miniaturization, and multidirectional movement abilities. Although flexibility enables …
Development of a compact continuum tubular robotic system for nasopharyngeal biopsy
Traditional posterior nasopharyngeal biopsy using a flexible nasal endoscope has the risks
of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently …
of abrasion and injury to the nasal mucosa and thus causing trauma to the patient. Recently …