3 papers
cs.RO2024
Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments using Fiber Bragg Grating Sensors
Alexander Schwarz, Arian Mehrfard, Golchehr Amirkhani +5
Continuum Dexterous Manipulators (CDMs) are well-suited tools for minimally invasive surgery due to their inherent dexterity and reachability. Nonetheless, their flexible structure…
cs.RO2023
A Data-Driven Model with Hysteresis Compensation for I2RIS Robot
Mojtaba Esfandiari, Yanlin Zhou, Shervin Dehghani +6
Retinal microsurgery is a high-precision surgery performed on an exceedingly delicate tissue. It now requires extensively trained and highly skilled surgeons. Given the restricted…
cs.RO2023
Design and Fabrication of a Fiber Bragg Grating Shape Sensor for Shape Reconstruction of a Continuum Manipulator
Golchehr Amirkhani, Anna Goodridge, Mojtaba Esfandiari +4
Continuum dexterous manipulators (CDMs) are suitable for performing tasks in a constrained environment due to their high dexterity and maneuverability. Despite the inherent advanta…