Endoscope geometrical analysis and kinematic control

Harvey Lipkin, Jomkwun Munnae, Gary McMurray, Debao Zhou, Wayne Daley

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Endoscopes are used in medical practice to effect minimally invasive diagnostics and treatments through a natural or surgical orifice. The endoscope is a snakelike device with a two degree-of-freedom articulated tip that bends in any direction using internal cables actuated by knobs. In this paper we use a serial robot model of the tip to show that the tip motions are not decoupled with respect to the knob inputs nor do they have constant gains. Further in a geometrical analysis it is shown that the articulated tip always lies along a circle. A tip kinematic control strategy is developed based on small motions that is able to decouple the output motions from the input motions and provide a constant gain functions. This allows the surgeon to control the endoscope in an intuitive and efficient manner.

Original languageEnglish (US)
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages231-238
Number of pages8
DOIs
StatePublished - Jun 17 2008
Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: Sep 4 2007Sep 7 2007

Publication series

Name2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume8 PART A

Other

Other31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period9/4/079/7/07

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