One or more devices, systems, methods, and storage mediums for performing
robotic control, correction, adjustment, and / or
smoothing for a continuum
robot are provided herein. Examples of such control, correction, adjustment, and / or
smoothing include, but are not limited to, correction of one or more sections or portions of a continuum
robot as the continuum
robot is moved, state transition(s) or change(s), and path
smoothing for a continuum robot. Examples of applications include imaging, evaluating, and diagnosing
biological objects, such as, but not limited to, for
Gastro-intestinal, cardio, bronchial, and / or ophthalmic applications, and being obtained via one or more optical instruments, such as, but not limited to, optical probes, catheters, endoscopes, and
bronchoscopes. Techniques provided herein also improve
processing and imaging efficiency while achieving images that are more precise, and also achieve devices, systems, methods, and storage mediums that reduce mental and physical burden and improve ease of use.