Self-Supervised Mask-Aware Transformers for Fault-Tolerant FBG Force Sensing in Minimally Invasive Surgical Robotics

In minimally invasive surgical robotics, catheter-scale Fiber Bragg Grating (FBG) sensors are promising due to their ability to estimate multi-dimensional forces by multiplexing several optical channels. However, deploying these compact multi-channel sensors introduces two critical engineering chall...