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.

Copyright © 2013 by ASME
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Fig. 1

Pull-push mechanism of two pairs of backbones

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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.

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Fig. 3

Block diagram of visual servo control

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Fig. 4

Bending of the flexible tip in horizontal and vertical directions

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Fig. 5

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



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