Robert B. Grupp

Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments using Fiber Bragg Grating Sensors

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 shape-based feedback control. The use of Fiber Bragg Grating (…