We design an auto-tracking flexible tip for an endoscope to implement the shared control in assistive laparoscopic surgery. The flexible tip can bend in all direction dynamically to keep the target within the visible filed during surgical tools operating on the anatomy. The kinematic model to describe the view filed of the steerable endoscope has been derived for control purpose. Experimental verification on auto-tracking of the target object using visual servo control has also been performed.

References

References
1.
Bova
,
F.
,
2010
, “
Computer Based Guidance in the Modern Operating Room: A Historical Perspective
,”
Biomed. Eng., IEEE Rev.
,
3
, pp.
209
222
.10.1109/RBME.2010.2089370
2.
Allaf
,
M. E.
,
Jackman
,
S. V.
,
Schulam
,
P. G.
,
Cadeddu
,
J. A.
,
Lee
,
B. R.
,
Moore
,
R. G.
, and
Kavoussi
,
L. R.
,
1998
, “
Laparoscopic Visual Field Voice vs Foot Pedal Interfaces for Control of the AESOP Robot
,”
Surg. Endosc.
,
12
(
12
), pp.
1415
1418
.10.1007/s004649900871
3.
Reilink
,
R.
,
de Bruin
,
G.
,
Franken
,
M.
,
Mariani
,
M. A.
,
Misra
,
S.
, and
Stramigioli
,
S.
,
2010
, “
Endoscopic Camera Control by Head Movements for Thoracic Surgery
,”
Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on
, pp.
510
515
.
4.
Gravagne
,
I. A.
,
Rahn
,
C. D.
, and
Walker
,
I. D.
,
2003
, “
Large Deflection Dynamics and Control for Planar Continuum Robots
,”
IEEE/ASME Trans. Mechatron.: Jt. Publ. IEEE Ind. Electron. Soc. and ASME Dyn. Syst. Control Div.
, 8, p.
299
.
You do not currently have access to this content.