2015
Large deflection shape sensing of a continuum manipulator for minimally-invasive surgery
Hao Liu, Amirhossein Farvardin, Sahba Aghajani Pedram, Iulian Iordachita, Russell H. Taylor, Mehran Armand
ICRA 2015poster
Shape sensing techniques utilizing Fiber Bragg grating (FBG) arrays can enable real-time tracking and control of dexterous continuum manipulators (DCM) used in minimally invasive surgeries. For many surgical applications, the DCM may need to operate with much larger curvatures than what current shap…