Shaft-Configuration-Adaptive Catheter Tip Position Estimation via Motor-History Conditioned Residual Learning

arXiv:2609.26304 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-22

Updated: 2026-09-22

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Hysteresis — 19× in this paper · explained in 3 episodes
• Calibration — 14× in this paper · explained in 7 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• Ablation — 4× in this paper · explained in 1 episode
• Adaptation — 4× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adam — 1× in this paper · explained in 2 episodes
• Core — 1× in this paper · explained in 2 episodes
• Digital Twin — 1× in this paper · explained in 4 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Geometric Mismatch — 1× in this paper · explained in 2 episodes
• Hybrid Models — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes

Sources

• Non-linear Hysteresis Compensation of a Tendon-sheath-driven Robotic Manipulator using Motor Current
• Shape-adaptive Hysteresis Compensation for Tendon-driven Continuum Manipulators
• MoSS: Monocular Shape Sensing for Continuum Robots
• Using Neural Networks to Model Hysteretic Kinematics in Tendon-Actuated Continuum Robots
• Accounting for Hysteresis in the Forward Kinematics of Nonlinearly-Routed Tendon-Driven Continuum Robots via a Learned Deep Decoder Network

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