SCADE: Simultaneous Sensor Calibration and Deformation Estimation of FBG-Equipped Unmodeled Continuum Manipulators.

ABSTRACT: In this article, we present a novel stochastic algorithm called simultaneous sensor calibration and deformation estimation (SCADE) to address the problem of modeling deformation behavior of a generic continuum manipulator (CM) in free and obstructed environments. In SCADE, using a novel mathematical formulation, we introduce a priori model-independent filtering algorithm to fuse the continuous and inaccurate measurements of an embedded sensor (e.g., magnetic or piezoelectric sensors) with an intermittent but accurate data of an external imaging system (e.g., optical trackers or cameras). The main motivation of this article is the crucial need of obtaining an accurate shape/position estimation of a CM utilized in a surgical intervention. In these robotic procedures, the CM is

SUBMITTER: Alambeigi F 

PROVIDER: S-EPMC7357879 | biostudies-literature | 2020 Feb

REPOSITORIES: biostudies-literature