相关论文: FBG-Based Control of a Continuum Manipulator Inter…
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advantages of CDMs in minimally invasive surgery, real-time control…
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…
Conventional shape sensing techniques using Fiber Bragg Grating (FBG) involve finding the curvature at discrete FBG active areas and integrating curvature over the length of the continuum dexterous manipulator (CDM) for tip position…
Fiber Bragg Grating (FBG) has shown great potential in shape and force sensing of continuum manipulators (CM) and biopsy needles. In the recent years, many researchers have studied different manufacturing and modeling techniques of…
Due to their flexibility, dexterity, and compact size, Continuum Manipulators (CMs) can enhance minimally invasive interventions. In these procedures, the CM may be operated in proximity of sensitive organs; therefore, requiring accurate…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
Fiber optic shape sensors have enabled unique advances in various navigation tasks, from medical tool tracking to industrial applications. Eccentric fiber Bragg gratings (FBG) are cheap and easy-to-fabricate shape sensors that are often…
We introduce a novel shape-sensing method using Resistive Flex Sensors (RFS) embedded in cable-driven Continuum Dexterous Manipulators (CDMs). The RFS is predominantly sensitive to deformation rather than direct forces, making it a…
This paper addresses the problem of controlling a continuum manipulator (CM) in free or obstructed environments with no prior knowledge about the deformation behavior of the CM and the stiffness and geometry of the interacting obstructed…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
Continuum manipulators (CMs) are widely used in minimally invasive procedures due to their compliant structure and ability to navigate deep and confined anatomical environments. However, their distributed deformation makes force sensing,…
In this paper, we propose a novel variable-length estimation approach for shape sensing of extensible soft robots utilizing fiber Bragg gratings (FBGs). Shape reconstruction from FBG sensors has been increasingly developed for soft robots,…
To address the challenges associated with shape sensing of continuum manipulators (CMs) using Fiber Bragg Grating (FBG) optical fibers, we feature a unique shape sensing assembly utilizing solely a single Optical Frequency Domain…
Continuum robots in robot-assisted minimally invasive surgeries provide adequate access to target anatomies that are not directly reachable through small incisions. Achieving precise and reliable motion control of such snake-like…
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…
Tendon-driven continuum manipulators (TDCM) are commonly used in minimally invasive surgical systems due to their long, thin, flexible structure that is compliant in narrow or tortuous environments. There exist many researches for precise…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Purpose: Endovascular aortic repair procedures are currently conducted with 2D fluoroscopy imaging. Tracking systems based on fiber Bragg gratings are an emerging technology for the navigation of minimal-invasive instruments which can…
A flexible active safety motion (FASM) control approach is proposed for the avoidance of dynamic obstacles and the reference tracking in robot manipulators. The distinctive feature of the proposed method lies in its utilization of control…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…