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.
An Automatic Object Tracking Steerable Endoscope
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Manuscript received March 15, 2013; final manuscript received April 29, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.
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Yen, P., Chu, Y., Hu, R., Yeh, C., and Luo, R. C. (July 3, 2013). "An Automatic Object Tracking Steerable Endoscope." ASME. J. Med. Devices. September 2013; 7(3): 030921. https://doi.org/10.1115/1.4024522
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