2 papers
cs.RO2018
On The Effect of Vibration on Shape Sensing of Continuum Manipulators Using Fiber Bragg Gratings
Shahriar Sefati, Farshid Alambeigi, Iulian Iordachita +2
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…
cs.RO2018
A Convex Optimization Framework for Constrained Concurrent Motion Control of a Hybrid Redundant Surgical System
Farshid Alambeigi, Shahriar Sefati, Mehran Armand
We present a constrained motion control framework for a redundant surgical system designed for minimally invasive treatment of pelvic osteolysis. The framework comprises a kinemati…