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

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Tendon-driven continuum manipulators are widely used in medical applications, where accurate tip-position estimation is essential for precise navigation and instrument positioning. However, patient anatomy and procedural setup impose task-dependent unknown shaft configurations, while friction, slack, and compliance introduce hysteresis, making tip estimation challenging. This paper presents a motor-history-conditioned gated recurrent unit (GRU) residual estimator for three-dimensional catheter tip estimation without direct shaft-configuration sensing. First, an initial multidirectional sweep s

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