An Automatic Object Tracking Steerable Endoscope

作者：Yen Ping Lang^*; Chu Yi Jing; Hu Rey Heng; Yeh Chi Chuan; Luo Ren C

来源：Journal of Medical Devices, Transactions of the ASME, 2013, 7(3): UNSP 030921.

DOI：10.1115/1.4024522

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.

• 出版日期2013-9