0
Technical Briefs

An Automatic Object Tracking Steerable Endoscope

[+] Author and Article Information
Ren C. Luo

Department of Bio-Industrial Mechatronics Engineering,
National Taiwan University,
1, Sec. 4, Roosevelt Road,
Taipei, Taiwan 106

Manuscript received March 15, 2013; final manuscript received April 29, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030921 (Jul 03, 2013) (2 pages) Paper No: MED-13-1076; doi: 10.1115/1.4024522 History: Received March 15, 2013; Revised April 29, 2013

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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Pull-push mechanism of two pairs of backbones

Grahic Jump Location
Fig. 2

Simulation results of (a) view field when only one motor is enabled. (b) when the two motors controlling motions in two orthogonal directions are both enabled. The unit of the coordinate is millimeter.

Grahic Jump Location
Fig. 3

Block diagram of visual servo control

Grahic Jump Location
Fig. 4

Bending of the flexible tip in horizontal and vertical directions

Grahic Jump Location
Fig. 5

The experimental result of the actual track with visual servo in the horizontal and vertical directions

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In