Endoscopes are used in medical practice to effect minimally invasive diagnostics and treatments through a natural or surgical orifice. The endoscope is a snakelike device with a two degree-of-freedom articulated tip that bends in any direction using internal cables actuated by knobs. In this paper we use a serial robot model of the tip to show that the tip motions are not decoupled with respect to the knob inputs nor do they have constant gains. Further in a geometrical analysis it is shown that the articulated tip always lies along a circle. A tip kinematic control strategy is developed based on small motions that is able to decouple the output motions from the input motions and provide a constant gain functions. This allows the surgeon to control the endoscope in an intuitive and efficient manner.
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ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 4–7, 2007
Las Vegas, Nevada, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4809-4
PROCEEDINGS PAPER
Endoscope Geometrical Analysis and Kinematic Control
Harvey Lipkin,
Harvey Lipkin
Georgia Institute of Technology, Atlanta, GA
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Jomkwun Munnae,
Jomkwun Munnae
Georgia Institute of Technology, Atlanta, GA
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Gary McMurray,
Gary McMurray
Georgia Institute of Technology, Atlanta, GA
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Debao Zhou,
Debao Zhou
Georgia Institute of Technology, Atlanta, GA
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Wayne Daley
Wayne Daley
Georgia Institute of Technology, Atlanta, GA
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Harvey Lipkin
Georgia Institute of Technology, Atlanta, GA
Jomkwun Munnae
Georgia Institute of Technology, Atlanta, GA
Gary McMurray
Georgia Institute of Technology, Atlanta, GA
Debao Zhou
Georgia Institute of Technology, Atlanta, GA
Wayne Daley
Georgia Institute of Technology, Atlanta, GA
Paper No:
DETC2007-35384, pp. 231-238; 8 pages
Published Online:
May 20, 2009
Citation
Lipkin, H, Munnae, J, McMurray, G, Zhou, D, & Daley, W. "Endoscope Geometrical Analysis and Kinematic Control." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 231-238. ASME. https://doi.org/10.1115/DETC2007-35384
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