Scade: Simultaneous Sensor Calibration and Deformation Estimation of Fbg-Equipped Unmodeled Continuum Manipulators
Open accessAbstract
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 typically equipped with an embedded sensing unit (ESU) while an external imaging modality (e.g., ultrasound or a fluoroscopy machine) is also available in the surgical site. The results of two different set of prior experiments in free and obstructed environments were used to evaluate the efficacy of SCADE algorithm. The experiments were performed with a CM specifically designed for orthopaedic interventions equipped with an inaccurate Fiber Bragg Grating (FBG) ESU and overhead camera. The results demonstrated the successful performance of the SCADE algorithm in simultaneous estimation of unknown deformation behavior of the utilized unmodeled CM together with realizing the time-varying drift of the poor-calibrated FBG sensing unit. Moreover, the results showed the phenomenal out-performance of the SCADE algorithm in estimation of the CM's tip position as compared to FBG-based position estimations.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Registration uncertainties have the potential to augment existing robotic control methods that rely on intermittent imaging.
“Finally, we note that registration uncertainties have the potential to augment existing robotic control methods which rely on intermittent imaging (Alambeigi et al., 2019).”
From The Impact of Machine Learning on 2D/3D Registration for Image-Guided Interventions: A Systematic Review and Perspective (2021) · cites this paper as Alambeigi et al., 2019
The Problem Formulation models uncertainty in image-derived position estimates as measurement noise, and the Conclusion proposes extending SCADE to real-time control. The paper also uses intermittent images, but it does not specifically propose using registration uncertainties to augment existing robotic control methods. (LLM, conf=0.79)
Experimental — accuracy not yet measured
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
Kronecker Products and Matrix Calculus: With Applications
Graham, A. (1981) · CERN Document Server (European Organization for Nuclear Research) · Cited by 1,650 · see citing works
Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading
Rucker, D. C., & Webster, R. J., III (2011) · IEEE Transactions on Robotics · doi:10.1109/tro.2011.2160469 · Cited by 674 · see citing works
Mechanics Modeling of Tendon-Driven Continuum Manipulators
Camarillo, D. B., Milne, C., Carlson, C. R., Zinn, M., & Salisbury, J. K. (2008) · IEEE Transactions on Robotics · doi:10.1109/tro.2008.2002311 · Cited by 658 · see citing works
Nonholonomic Modeling of Needle Steering
Webster, R. J., III, Kim, J. S., Cowan, N. J., Chirikjian, G. S., & Okamura, A. M. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906065388 · Cited by 634 · see citing works
Nonholonomic Modeling of Needle Steering
Webster, R. J., III, Cowan, N. J., Chirikjian, G. S., & Okamura, A. M. (2006) · Springer tracts in advanced robotics · doi:10.1007/11552246_4 · Cited by 527 · see citing works
Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications
Franz, A. M., Haidegger, T. P., Birkfellner, W., Cleary, K., Peters, T. M., & Maier‐Hein, L. (2014) · IEEE Transactions on Medical Imaging · doi:10.1109/tmi.2014.2321777 · Cited by 506 · see citing works
Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey
Shi, C., Luó, X., Qi, P., Li, T., Song, S., Najdovski, Z., Fukuda, T., & Ren, H. (2016) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2016.2622361 · Cited by 423 · see citing works
Mechanics of Flexible Needles Robotically Steered through Soft Tissue
Misra, S., Reed, K. B., Schafer, B. W., Ramesh, K. T., & Okamura, A. M. (2010) · The International Journal of Robotics Research · doi:10.1177/0278364910369714 · Cited by 314 · see citing works
A Telerobotic System for Transnasal Surgery
Burgner-Kahrs, J., Rucker, D. C., Gilbert, H. B., Swaney, P. J., Russell, P. T., Weaver, K. D., & Webster, R. J., III (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2265804 · Cited by 295 · see citing works
Three-Dimensional Needle Shape Reconstruction Using an Array of Fiber Bragg Grating Sensors
Roesthuis, R. J., Kemp, M., van den Dobbelsteen, J. J., & Misra, S. (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2269836 · Cited by 283 · see citing works
Xu, K. J., & Simaan, N. (2009) · Journal of Mechanisms and Robotics · doi:10.1115/1.4000519 · Cited by 280 · see citing works
Model-Less Feedback Control of Continuum Manipulators in Constrained Environments
Yip, M. C., & Camarillo, D. B. (2014) · IEEE Transactions on Robotics · doi:10.1109/tro.2014.2309194 · Cited by 264 · see citing works
Equilibrium Conformations of Concentric-tube Continuum Robots
Rucker, D. C., Webster, R. J., III, Chirikjian, G. S., & Cowan, N. J. (2010) · The International Journal of Robotics Research · doi:10.1177/0278364910367543 · Cited by 218 · see citing works
Simaan, N., Yasin, R. M., & Wang, L. (2018) · Annual Review of Control Robotics and Autonomous Systems · doi:10.1146/annurev-control-060117-104956 · Cited by 195 · see citing works
Snake-Like Units Using Flexible Backbones and Actuation Redundancy for Enhanced Miniaturization
Simaan, N. (2006) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2005.1570572 · Cited by 184 · see citing works
FBG-based shape sensing tubes for continuum robots
Ryu, S. C., & Dupont, P. E. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907368 · Cited by 164 · see citing works
Dynamic Control of the Bionic Handling Assistant
Falkenhahn, V., Hildebrandt, A., Neumann, R., & Sawodny, O. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2016.2605820 · Cited by 149 · see citing works
Autonomous Tissue Manipulation via Surgical Robot Using Learning Based Model Predictive Control
Shin, C., Ferguson, P. W., Pedram, S. A., Ma, J., Dutson, E. P., & Rosen, J. (2019) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2019.8794159 · Cited by 125 · see citing works
Self-citationStochastic Processes, Estimation, and Control
Speyer, J. L., & Chung, W. H. (2008) · Society for Industrial and Applied Mathematics eBooks · doi:10.1137/1.9780898718591 · Cited by 125 · see citing works
Self-citationGao, A., Murphy, R. J., Liu, H., Iordachita, I. I., & Armand, M. (2016) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2016.2612833 · Cited by 102 · see citing works
Self-citationPercutaneous intracardiac beating-heart surgery using metal MEMS tissue approximation tools
Gosline, A. H., Vasilyev, N. V., Butler, E. J., Folk, C. R., Cohen, A., Chen, R., Lang, N., del Nido, P. J., & Dupont, P. E. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912443718 · Cited by 98 · see citing works
Alambeigi, F., Wang, Y., Sefati, S., Gao, C., Murphy, R. J., Iordachita, I. I., Taylor, R. H., Khanuja, H. S., & Armand, M. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2668469 · Cited by 89 · see citing works
Self-citationMultisensor Data Fusion in an Integrated Tracking System for Endoscopic Surgery
Ren, H., Rank, D., Merdes, M., Stallkamp, J. L., & Kazanzides, P. (2011) · IEEE Transactions on Information Technology in Biomedicine · doi:10.1109/titb.2011.2164088 · Cited by 88 · see citing works
Vaccarella, A., Momi, E. D., Enquobahrie, D. A., & Ferrigno, G. (2013) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2013.2248304 · Cited by 84 · see citing works
Enayati, N., Momi, E. D., & Ferrigno, G. (2015) · IEEE Transactions on Instrumentation and Measurement · doi:10.1109/tim.2015.2390832 · Cited by 83 · see citing works
Shape Tracking of a Dexterous Continuum Manipulator Utilizing Two Large Deflection Shape Sensors
Liu, H., Farvardin, A., Grupp, R. B., Murphy, R. J., Taylor, R. H., Iordachita, I. I., & Armand, M. (2015) · IEEE Sensors Journal · doi:10.1109/jsen.2015.2442266 · Cited by 82 · see citing works
Self-citationOptimizing curvature sensor placement for fast, accurate shape sensing of continuum robots
Kim, B., Ha, J., Park, F. C., & Dupont, P. E. (2014) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2014.6907649 · Cited by 78 · see citing works
Pedram, S. A., Ferguson, P. W., Ma, J., Dutson, E., & Rosén, J. (2017) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2017.7989278 · Cited by 76 · see citing works
Design and kinematic characterization of a surgical manipulator with a focus on treating osteolysis
Murphy, R. J., Kutzer, M. D. M., Segreti, S. M., Lucas, B. C., & Armand, M. (2013) · Robotica · doi:10.1017/s0263574713001082 · Cited by 73 · see citing works
Self-citationShape Tracking of Planar Hyper-Flexible Beams via Embedded PVDF Deflection Sensors
Shapiro, Y., Kósa, G., & Alon Wolf, A. (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2278251 · Cited by 72 · see citing works
A continuum manipulator with phase changing alloy
Alambeigi, F., Seifabadi, R., & Armand, M. (2016) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2016.7487204 · Cited by 71 · see citing works
Self-citationAlambeigi, F., Wang, Z., Hegeman, R. A., Liu, Y., & Armand, M. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2888896 · Cited by 70 · see citing works
Self-citationAlambeigi, F., Bakhtiarinejad, M., Sefati, S., Hegeman, R. A., Iordachita, I. I., Khanuja, H. S., & Armand, M. (2019) · IEEE Transactions on Medical Robotics and Bionics · doi:10.1109/tmrb.2019.2895780 · Cited by 70 · see citing works
Self-citationLarge deflection shape sensing of a continuum manipulator for minimally-invasive surgery
Liu, H., Farvardin, A., Pedram, S. A., Iordachita, I. I., Taylor, R. H., & Armand, M. (2015) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2015.7139000 · Cited by 56 · see citing works
Self-citationWilkening, P. R., Alambeigi, F., Murphy, R. J., Taylor, R. H., & Armand, M. (2017) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2017.2678543 · Cited by 54 · see citing works
Self-citationStochastic Processes, Estimation, and Control
Speyer, J. L., & Chung, W. H. (2000) · CRC Press eBooks · doi:10.1201/9781420041767.ch15 · Cited by 47 · see citing works
Self-citationShape estimation for image-guided surgery with a highly articulated snake robot
Tully, S., Kantor, G. A., Zenati, M. A., & Choset, H. (2011) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2011.6094751 · Cited by 47 · see citing works
Sefati, S., Hegeman, R. A., Alambeigi, F., Iordachita, I. I., & Armand, M. (2019) · International Symposium on Medical Robotics · doi:10.1109/ismr.2019.8710179 · Cited by 44 · see citing works
Self-citationFusion of Electromagnetic Trackers to Improve Needle Deflection Estimation: Simulation Study
Sadjadi, H., Hashtrudi-Zaad, K., & Gabor Fichtinger, A. (2013) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2013.2262658 · Cited by 40 · see citing works
An Ultrasound-based Localization Algorithm for Catheter Ablation Guidance in the Left Atrium
Koolwal, A. B., Barbagli, F., Carlson, C. R., & Liang, D. H. (2009) · The International Journal of Robotics Research · doi:10.1177/0278364909105332 · Cited by 36 · see citing works
FBG-based large deflection shape sensing of a continuum manipulator: Manufacturing optimization
Sefati, S., Alambeigi, F., Iordachita, I. I., Armand, M., Murphy, R. J., & Armand, M. (2016) · Proceedings of IEEE Sensors/Proceedings of IEEE Sensors ... · doi:10.1109/icsens.2016.7808910 · Cited by 35 · see citing works
Self-citationChen, A. I., Balter, M. L., Maguire, T. J., & Yarmush, M. L. (2015) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2015.7353736 · Cited by 35 · see citing works
Alambeigi, F., Wang, Z., Liu, Y.-H., Taylor, R. H., & Armand, M. (2018) · Annals of Biomedical Engineering · doi:10.1007/s10439-018-2074-y · Cited by 33 · see citing works
Self-citationDesign and characterization of a debriding tool in robot-assisted treatment of osteolysis
Alambeigi, F., Sefati, S., Murphy, R. J., Iordachita, I. I., & Armand, M. (2016) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra.2016.7487787 · Cited by 31 · see citing works
Self-citationSefati, S., Pozin, M., Alambeigi, F., Iordachita, I. I., Taylor, R. H., & Armand, M. (2017) · Proceedings of IEEE Sensors/Proceedings of IEEE Sensors ... · doi:10.1109/icsens.2017.8234018 · Cited by 31 · see citing works
Self-citationAdaptive Algorithms for Performance Improvement of a Class of Continuum Manipulators
Melingui, A., Ahanda, J. J.-B. M., Lakhal, O., Mbede, J. B., & Merzouki, R. (2017) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2017.2678605 · Cited by 27 · see citing works
Otake, Y., Murphy, R. J., Kutzer, M. D. M., Taylor, R. H., & Armand, M. (2014) · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · doi:10.1117/12.2043242 · Cited by 25 · see citing works
Self-citationTowards real-time shape sensing of continuum manipulators utilizing fiber Bragg grating sensors
Farvardin, A., Murphy, R. J., Grupp, R. B., Iordachita, I. I., & Armand, M. (2016) · IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob.2016.7523791 · Cited by 14 · see citing works
Self-citationKalman filter-based EM-optical sensor fusion for needle deflection estimation
Jiang, B., Gao, W., Kacher, D. F., Nevo, E., Fetics, B. J., Lee, T. C., & Jayender, J. (2018) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-018-1708-8 · Cited by 12 · see citing works
Flagged first, then by citations
1 of the 50 references couldn’t be matched to a known paper.
Cited by
Sorted by citations
Russo, M., Sadati, S. M. H., Dong, X., Mohammad, A., Walker, I. D., Bergeles, C., Xu, K. J., & Axinte, D. A. (2023) · Advanced Intelligent Systems · doi:10.1002/aisy.202200367 · Cited by 269 · see citing works
Unberath, M., Gao, C., Hu, Y., Judish, M., Taylor, R. H., Armand, M., & Grupp, R. (2021) · Frontiers in Robotics and AI · doi:10.3389/frobt.2021.716007 · Cited by 102 · see citing works
“Finally, we note that registration uncertainties have the potential to augment existing robotic control methods which rely on intermittent imaging [118].”
BackgroundSelf-citationDong, X., Wang, M., Mohammad, A., Ba, W., Russo, M., Norton, A., Kell, J., & Axinte, D. A. (2022) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2021.3138222 · Cited by 84 · see citing works
Robust Three-Dimensional Shape Sensing for Flexible Endoscopic Surgery Using Multi-Core FBG Sensors
Lu, Y., Lu, B., Li, B., Guo, H., & Liu, Y. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3067279 · Cited by 73 · see citing works
Finite-Time Observer-Based Variable Impedance Control of Cable-Driven Continuum Manipulators
Liang, X., He, G., Su, T., Wang, W., Huang, C., Zhao, Q., & Hou, Z. (2021) · IEEE Transactions on Human-Machine Systems · doi:10.1109/thms.2021.3129708 · Cited by 60 · see citing works
Magnetic Continuum Robot for Intelligent Manipulation in Medical Applications
Ma, Y., An, X., Yang, Q., Cai, M., Tang, Z., Chang, J., Iacovacci, V., Xu, T., Zhang, L., & Wang, Q. (2025) · SmartBot · doi:10.1002/smb2.12011 · Cited by 51 · see citing works
Ha, X. T., Ourak, M., Al-Ahmad, O., Wu, D., Borghesan, G., Menciassi, A., & Poorten, E. V. (2021) · IEEE Sensors Journal · doi:10.1109/jsen.2021.3107036 · Cited by 45 · see citing works
Bai, H., Lee, B. G., Yang, G., Shen, W., Qian, S., Zhang, H., Zhou, J., Fang, Z., Zheng, T., Yang, S., et al. (2024) · Actuators · doi:10.3390/act13020052 · Cited by 39 · see citing works
Learning-Based Visual-Strain Fusion for Eye-in-Hand Continuum Robot Pose Estimation and Control
Wang, X., Dai, J., Tong, H., Wang, K., Fang, G., Xie, X., Liu, Y., Au, K. W. S., & Kwok, K. (2023) · IEEE Transactions on Robotics · doi:10.1109/tro.2023.3240556 · Cited by 38 · see citing works
Fluoroscopic Navigation for a Surgical Robotic System Including a Continuum Manipulator
Gao, C., Phalen, H., Sefati, S., Ma, J. H., Taylor, R. H., Unberath, M., & Armand, M. (2021) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2021.3097631 · Cited by 31 · see citing works
Self-citationShape reconstruction of soft continuum robots via the fusion of local strains and global poses
An, X., Cui, Y., Dong, X., Wang, Y., Du, B., Liu, X.-J., & Zhao, H. (2024) · Cell Reports Physical Science · doi:10.1016/j.xcrp.2024.102224 · Cited by 30 · see citing works
Pedram, S. A., Ferguson, P. W., Shin, C., Mehta, A. M., Dutson, E., Alambeigi, F., & Rosén, J. (2020) · IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) · doi:10.1109/biorob49111.2020.9224421 · Cited by 27 · see citing works
Self-citationLu, Y., Chen, W., Li, B., Lu, B., Zhou, J., Chen, Z., & Liu, Y. (2023) · IEEE Transactions on Medical Robotics and Bionics · doi:10.1109/tmrb.2023.3239685 · Cited by 26 · see citing works
An enhanced Runge Kutta boosted machine learning framework for medical diagnosis
Qiao, Z., Li, L., Zhao, X., Liu, L., Zhang, Q., Shili, H., Atri, M., & Li, X. (2023) · Computers in Biology and Medicine · doi:10.1016/j.compbiomed.2023.106949 · Cited by 23 · see citing works
Adaptive Approximation Tracking Control of a Continuum Robot With Uncertainty Disturbances
Xu, S., & He, B. (2022) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2022.3202540 · Cited by 22 · see citing works
Shan, W., Qiao, Z., Heidari, A. A., Gui, W., Chen, H., Teng, Y., Liang, Y., & Lv, T. (2022) · Computers in Biology and Medicine · doi:10.1016/j.compbiomed.2022.105563 · Cited by 21 · see citing works
Zhang, L., Qiao, Z., & Li, L. (2024) · IEEE Access · doi:10.1109/access.2024.3433483 · Cited by 21 · see citing works
Lu, Y., Chen, W., Lu, B., Zhou, J., Chen, Z., Dou, Q., & Liu, Y. (2024) · Soft Robotics · doi:10.1089/soro.2022.0158 · Cited by 20 · see citing works
Gaussian bare‐bones gradient‐based optimization: Towards mitigating the performance concerns
Qiao, Z., Shan, W., Jiang, N., Heidari, A. A., Chen, H., Teng, Y., Turabieh, H., & Mafarja, M. M. (2021) · International Journal of Intelligent Systems · doi:10.1002/int.22658 · Cited by 18 · see citing works
Lu, Y., Wei, R., Li, B., Chen, W., Zhou, J., Dou, Q., Sun, D. B., & Liu, Y. (2023) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra48891.2023.10161505 · Cited by 18 · see citing works
Hao, J., Duan, J., Wang, K., Hu, C., & Shi, C. (2023) · IEEE Transactions on Medical Robotics and Bionics · doi:10.1109/tmrb.2023.3315473 · Cited by 17 · see citing works
Qiu, K., Zhang, H., Zhang, J., Xiong, R., Lu, H., & Wang, Y. (2024) · The International Journal of Robotics Research · doi:10.1177/02783649241290525 · Cited by 16 · see citing works
Ma, H., Xiao, L., Hu, Z., Heidari, A. A., Hadjouni, M., Elmannai, H., & Chen, H. (2023) · Journal of Bionic Engineering · doi:10.1007/s42235-023-00400-7 · Cited by 13 · see citing works
FBG-Based Variable-Length Estimation for Shape Sensing of Extensible Soft Robotic Manipulators
Lu, Y., Chen, W., Chen, Z., Zhou, J., & Liu, Y. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9981501 · Cited by 10 · see citing works
Jang, M., Jeon, H. J., Kim, B. K., Moon, H., Keum, B., & Kim, J. (2025) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2025.3540099 · Cited by 7 · see citing works
Lu, Y., Li, B., Chen, W., Yan, J., Cheng, S. S., Wang, J., Zhou, J., Dou, Q., & Liu, Y. (2024) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra57147.2024.10611403 · Cited by 7 · see citing works
An efficient weighted slime mould algorithm for engineering optimization
Sun, Q., Wang, C., Chen, Y., Heidari, A. A., Chen, H., & Liang, G. (2024) · Journal Of Big Data · doi:10.1186/s40537-024-01000-w · Cited by 6 · see citing works
Rapid and Accurate Shape-Sensing Method Using a Multi-Core Fiber Bragg Grating-Based Optical Fiber
Violakis, G., Vardakis, N., Zhang, Z., Angelmahr, M., & Polygerinos, P. (2025) · Sensors · doi:10.3390/s25144494 · Cited by 6 · see citing works
Tang, K., & Zhang, L. (2025) · PLoS ONE · doi:10.1371/journal.pone.0325272 · Cited by 5 · see citing works
On the Tradeoff Between Spatial Resolution and High Curvature Bending in FBG-Based Shape Sensing
Hanley, D. J., Dhaliwal, K., & Khadem, M. (2023) · IEEE Sensors Journal · doi:10.1109/jsen.2023.3326849 · Cited by 5 · see citing works
Safety and Energy-Aware Impedance Control of a Continuum Robot With Vision-Based Manipulation
Yang, Q., Ye, W., Wu, X., & Li, Z. (2025) · IEEE Transactions on Automation Science and Engineering · doi:10.1109/tase.2025.3608039 · Cited by 4 · see citing works
Hao, J., Zhang, Y., Song, L., Zhang, Z., & Shi, C. (2024) · Advanced Intelligent Systems · doi:10.1002/aisy.202400753 · Cited by 4 · see citing works
An Efficient Multi-solution Solver for the Inverse Kinematics of 3-Section Constant-Curvature Robots
Qiu, K., Zhang, J., Sun, D., Xiong, R., Lu, H., & Wang, Y. (2023) · Robotics: Science and Systems · doi:10.15607/rss.2023.xix.091 · Cited by 4 · see citing works
Yu, X., & Zunu, P. (2025) · Biomimetics · doi:10.3390/biomimetics10080494 · Cited by 3 · see citing works
Cooperative integrated surgical robots for high-performance targeted therapies
Li, Z., Qi, Z., Wu, Z., Zhang, L., & Xu, Q. (2026) · The Innovation · doi:10.1016/j.xinn.2026.101310 · Cited by 3 · see citing works
Nguyen, N., Parker, M., Kara, Ö. C., & Alambeigi, F. (2022) · Proceedings of IEEE Sensors/Proceedings of IEEE Sensors ... · doi:10.1109/sensors52175.2022.9967048 · Cited by 3 · see citing works
Self-citationShape Estimation of Concentric Tube Robots Using Single Point Position Measurement
Mackutė, E., Thamo, B., Dhaliwal, K., & Khadem, M. (2022) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros47612.2022.9982174 · Cited by 3 · see citing works
Li, D., Wang, C., Guo, W., Wang, Z., Zhang, Z., & Liu, H. (2023) · Journal of Shanghai Jiaotong University (Science) · doi:10.1007/s12204-023-2579-x · Cited by 3 · see citing works
Gao, Y., & Liang, C. (2025) · PLoS ONE · doi:10.1371/journal.pone.0322111 · Cited by 3 · see citing works
FBG-based Kalman Filtering and Control of Tool Insertion Depth For Safe Robot-assisted Vitrectomy
Ebrahimi, A., Urias, M. G., Patel, N. A., Gehlbach, P. L., Alambeigi, F., & Iordachita, I. I. (2020) · International Symposium on Medical Robotics · doi:10.1109/ismr48331.2020.9312931 · Cited by 3 · see citing works
Self-citationTavangarifard, M., Ovalle, W. R., & Alambeigi, F. (2025) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/icra55743.2025.11128185 · Cited by 2 · see citing works
Self-citationEvent-Triggered Unified Prescribed Performance Control for Continuum Robots With Actuator Faults
Luo, Y., Wang, X., Zhao, K., & Niu, B. (2025) · IEEE Transactions on Systems Man and Cybernetics Systems · doi:10.1109/tsmc.2025.3614342 · Cited by 2 · see citing works
Wang, X., & Shan, J. (2025) · Scientific Reports · doi:10.1038/s41598-025-15205-3 · Cited by 1 · see citing works
Design and Structure Analysis of Manipulator Based on Acceleration Sensor
Zhu, S., & Cai, J. (2021) · Lecture notes on data engineering and communications technologies · doi:10.1007/978-3-030-89511-2_13
Radial Basis Function Neural Network-Based Adaptive Trajectory Tracking Control for Continuum Robots
Du, F., Liu, Z., He, W., Yin, C., Zhang, Y., & Song, R. (2025) · Lecture notes in computer science · doi:10.1007/978-981-95-2095-4_49
Toward Automatic GI Tract Intervention With a Novel Shape-Aware Robotic Endoscope
Feng, G., Qu, Y., He, Q., Yang, T., Cui, J., Wei, B., Chen, B., & Zuo, S. (2026) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2026.3684235
Lu, R., Lei, G., Liu, H., Sun, Y., Wang, W., & Du, X. (2026) · Biomimetics · doi:10.3390/biomimetics11060430
Zhang, L., Ye, L., Shuai, L., Li, X., Pi, H., Gao, K., & Ye, Q. (2026) · Optics Express · doi:10.1364/oe.604660
- Authors
- Alambeigi, F., Aghajani Pedram, S., Speyer, J. L., Rosen, J., Iordachita, I., Taylor, R. H., & Armand, M.
- Affiliations
- The University of Texas at Austin (US)
- University of California, Los Angeles (US)
- Johns Hopkins University (US)
- ORCID
- Venue
- IEEE Transactions on Robotics
- Published
- 2020-02
- Volume
- 36
- Issue
- 1
- Pages
- 222-239
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- PMC
- PMC7357879
- OpenAlex
- W2982459439
- Cited by
- 48
- References
- 50
- Citations by year
- 2026: 4 · 2025: 11 · 2024: 8 · 2023: 10 · 2022: 6 · 2021: 7 · 2020: 2
- FWCI
- 1.32
- Type
- journal article
- Language
- en
- Open access
- green
- europepmc.org
- Licence
- Locations
- IEEE Transactions on Robotics (publishedVersion)
- PubMed (publishedVersion)
- Europe PMC (PubMed Central) (acceptedVersion)
- PubMed Central (acceptedVersion)
- Funders
- National Institutes of Health
- National Institute of Biomedical Imaging and Bioengineering (R01EB016703)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Physical Sciences › Computer Science › Artificial Intelligence › Target Tracking and Data Fusion in Sensor Networks
- Physical Sciences › Engineering › Aerospace Engineering › Robotics and Sensor-Based Localization
- Keywords
- continuum robots, sensor calibration, deformation estimation, fiber Bragg grating sensors, sensor fusion, obstructed environments, surgical robotics, orthopaedic interventions, camera tracking, sensor drift
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
