5. Glossary

Lithotomic position

Gynecological position in which the person lies on their back with their feet in stirrups.

Lateral decubitus

Describes a body lying horizontally and turned on its right or left side.

Bragg grating shape sensing; fiber fragg frating shape sensing

Estimating the shape of flexible catheters and endoscopes is an important element in the control of medical robots based on these deformable devices. Bragg grating sensors can be used to reconstruct the local curvature of these instruments. The spectrum of light reflected by a Bragg grating located in an optical fiber depends on the mechanical constraints (extension, compression) applied locally to the fiber. By combining several fibers, it is possible to measure relative stresses and reconstruct local...