{"id":"https://openalex.org/W4283706124","doi":"https://doi.org/10.1109/ismr48347.2022.9807503","title":"Towards FBG-based End-Effector Force Estimation for a Steerable Continuum Robot","display_name":"Towards FBG-based End-Effector Force Estimation for a Steerable Continuum Robot","publication_year":2022,"publication_date":"2022-04-13","ids":{"openalex":"https://openalex.org/W4283706124","doi":"https://doi.org/10.1109/ismr48347.2022.9807503"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48347.2022.9807503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086808827","display_name":"Timothy A. Brumfiel","orcid":"https://orcid.org/0000-0002-7623-9849"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Timothy A. Brumfiel","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029120781","display_name":"Achraj Sarma","orcid":"https://orcid.org/0000-0002-0476-4644"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Achraj Sarma","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047893446","display_name":"Jaydev P. Desai","orcid":"https://orcid.org/0000-0001-8298-2439"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2802612298","display_name":"The Wallace H. Coulter Department of Biomedical Engineering","ror":"https://ror.org/02j15s898","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444","https://openalex.org/I150468666","https://openalex.org/I2802612298"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jaydev P. Desai","raw_affiliation_strings":["Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA,30332"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology,Medical Robotics and Automation (RoboMed) Laboratory,Wallace H. Coulter Department of Biomedical Engineering,Atlanta,GA,USA,30332","institution_ids":["https://openalex.org/I2802612298","https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10923","display_name":"Force Microscopy Techniques and Applications","score":0.9284999966621399,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6713123321533203},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6052407026290894},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5840883851051331},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5636223554611206},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5460923910140991},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5424462556838989},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5062650442123413},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4609229564666748},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3639521598815918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2739403545856476},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25486961007118225},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20415419340133667},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.1741567850112915},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17147621512413025}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6713123321533203},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6052407026290894},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5840883851051331},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5636223554611206},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5460923910140991},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5424462556838989},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5062650442123413},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4609229564666748},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3639521598815918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2739403545856476},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25486961007118225},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20415419340133667},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.1741567850112915},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17147621512413025},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48347.2022.9807503","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807503","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1586443804","https://openalex.org/W1604037492","https://openalex.org/W1610082327","https://openalex.org/W2048470656","https://openalex.org/W2063797945","https://openalex.org/W2068050180","https://openalex.org/W2095905764","https://openalex.org/W2101797976","https://openalex.org/W2108817574","https://openalex.org/W2153828729","https://openalex.org/W2159144495","https://openalex.org/W2295380675","https://openalex.org/W2513622562","https://openalex.org/W2774676248","https://openalex.org/W2790744980","https://openalex.org/W2890182857","https://openalex.org/W2890184628","https://openalex.org/W2921483293","https://openalex.org/W3002480759","https://openalex.org/W3003053265","https://openalex.org/W3003607036","https://openalex.org/W3003639106","https://openalex.org/W3005207906","https://openalex.org/W3037285193","https://openalex.org/W3095702864","https://openalex.org/W6682408752"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W4205284030","https://openalex.org/W2570672926","https://openalex.org/W4378191988","https://openalex.org/W3210882399","https://openalex.org/W1984186897","https://openalex.org/W1976172674","https://openalex.org/W2114949587","https://openalex.org/W2057014666","https://openalex.org/W2166277106"],"abstract_inverted_index":{"Minimally":[0],"invasive":[1],"procedures":[2],"can":[3],"benefit":[4],"greatly":[5],"from":[6],"the":[7,53,58,84,94,120,135,147],"development":[8],"of":[9,37,60,71,129,140],"flexible":[10],"and":[11,18,34,80,132,137],"steerable":[12],"devices":[13,27],"such":[14],"as":[15,20,22],"robotic":[16,23,161],"guidewires":[17],"catheters":[19],"well":[21],"endoscopic":[24],"tools.":[25],"Such":[26],"could":[28],"provide":[29,103],"clinicians":[30],"with":[31,67,110,126],"increased":[32],"dexterity":[33],"offer":[35],"measurements":[36],"contact":[38],"forces":[39,142],"through":[40],"their":[41],"ability":[42],"to":[43,82,102,118,150],"perform":[44],"intrinsic":[45],"force":[46,54,123,156],"sensing.":[47],"In":[48],"this":[49],"paper,":[50],"we":[51],"evaluate":[52],"sensing":[55,157],"capabilities":[56,125,158],"at":[57],"tip":[59],"a":[61,111],"2":[62],"degree-of-freedom,":[63],"meso-scale":[64],"continuum":[65],"robot":[66,85],"an":[68],"outer":[69],"diameter":[70],"1.93":[72],"mm.":[73],"An":[74],"external":[75,122],"tendon":[76],"setup":[77],"is":[78,116],"designed":[79],"used":[81,101,117],"estimate":[83],"joint":[86,104],"stiffness.":[87],"Fiber":[88],"Bragg":[89],"grating":[90],"sensors":[91],"embedded":[92],"within":[93],"notched":[95],"nickel":[96],"titanium":[97],"tubes":[98],"are":[99],"then":[100],"deflection":[105],"feedback.":[106],"This,":[107],"in":[108,134,153,159],"tandem":[109],"derived":[112],"planar":[113],"kinematic":[114],"model,":[115],"investigate":[119],"robot\u2019s":[121],"estimation":[124],"average":[127],"errors":[128],"7.8":[130],"mN":[131],"30mN":[133],"x":[136],"y":[138],"components":[139],"estimated":[141],"respectively.":[143],"We":[144],"further":[145],"envision":[146],"proposed":[148],"approach":[149],"be":[151],"applicable":[152],"designing":[154],"similar":[155],"micro-scale":[160],"guidewires.":[162]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}