Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots.pdfVIP

IEEE SENSORS JOURNAL, VOL. 15, NO. 8, AUGUST 2015 4565 Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots Shuang Song, Zheng Li, Member, IEEE, Haoyong Yu, Member, IEEE, and Hongliang Ren, Member, IEEE Abstract— Wire-driven flexible robots are efficient devices for minimally invasive surgery, since they can work well in complex and confined environments. However, the real-time positional and shape information of the robot cannot be well estimated, especially when there is an unknown payload or force working on the end effector. In this paper, we propose a novel ti