Dynamic tracking of anatomical object for a steerable endoscope

Author

Chu, Yi-Jing ; Liu, Shih-Po ; Luo, Ren C. ; Hu, Rey-Heng ; Yeh, Chi-Chuan ; Peng, Yi Wen ; Yen, Ping-Lang

Author_Institution

Dept. of Bio-Ind. Mechatron. Eng., Nat. Taiwan Univ., Taipei, Taiwan

fYear

2012

fDate

11-14 July 2012

Firstpage

45

Lastpage

50

Abstract

The performance of MIS is usually limited by restricted view field and awkward tool manipulation. An intelligent auto-tracking steerable endoscope has been proposed to solve the restricted view field issue. We design a flexible tip for an endoscope, which was actuated by cable-driven method. The flexible tip can rotate in all direction dynamically to keep the target within the view filed during the tools operating on the anatomy. The kinematic model to describe the view filed of the steerable endoscope is derived and experimental verification on auto-tracking of the target object has been performed.

Keywords

endoscopes; kinematics; physiological models; surgery; anatomical object; autotracking steerable endoscope; awkward tool manipulation; cable-driven method; dynamic tracking; kinematic model; minimally invasive surgery; restricted view field issue; target object; Endoscopes; Kinematics; Laparoscopes; Navigation; Shafts; Surgery; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on

Conference_Location

Kachsiung

ISSN

2159-6247

Print_ISBN

978-1-4673-2575-2

Type

conf

DOI

10.1109/AIM.2012.6266006

Filename

6266006