Sensor Fusion for Shape Reconstruction Using Electromagnetic Tracking Sensors and Multi-Core Optical Fiber

Optical fiber-based shape sensing is gaining popularity in cardiac catheterization lately. Typically, these procedures are taking place under the guidance of fluoroscopy. However, fluoroscopy has several disadvantages. Thanks to fiber optic shape sensing and Electromagnetic Tracking (EMT), the 3D catheter shape can now be tracked in real-time...

Fusion Framework for Coaxial Catheter Tracking

Minimally invasive catheter-based interventions normally take place under the guidance of fluoroscopy. However, fluoroscopy is harmful to both patients and clinicians. Moreover, it only offers 2-D shape visualization of flexible devices. To solve the problem of harmful radiation and offer 3-D pose and shape information, recent studies propose...

Color-Based Proprioception of Soft Actuators Interacting with Objects

Actuators using soft materials feature a large number of degrees of freedom. This tremendous flexibility allows a soft actuator to passively adapt its shape to the objects under interaction. In this paper, we propose a novel proprioception method for soft actuators during real-time interaction with previously unknown objects. First, we design...