Model-free and Uncalibrated Visual-feedback Control of Magnetically-Actuated Flexible Endoscopes

Jiewen Tan1; Junnan Xue1; Xing Yang1; Sishen Yuan2; Wei Liu3; Hongliang Ren2; Shuang Song1; Jiaole Wang1

10.1109/IROS47612.2022.9982055

2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems

2153-0858

978-1-6654-7928-8

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

5930-5936

23-27 Oct. 2022

Kyoto, Japan

Magnetically-actuated flexible endoscopes (MAFE) have been well used in minimally-invasive surgery because they can be steered by a magnetic field thus more flexible than traditional endoscopes. Model-free and uncalibrated visual-feedback control makes it possible to manipulate MAFE with a magnetic field without external tracking systems. Because no extra sensor is required to obtain position and posture information, the size of MAFE can be made smaller. However, the traditional control method focuses on 2DoF control, which lacks control over the posture of the end of MAFE. This may result in unnecessary contact between MAFE and tissue and cause injury during the advancement of the endoscope. In this letter, we propose algorithms to enhance the pose control of MAFE to 4DoF and 5DoF based on model-free and uncalibrated visual-feedback control. Experiments in structured environments verify that the control algorithms are able to realize 4DoF manual navigation and 5DoF automatic navigation.

Navigation Endoscopes Magnetic Resonance Imaging Surgery Process Control Manuals Robot Sensing Systems

其他

IEEE

1.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China
2.Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong
3.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China

Jiewen Tan,Junnan Xue,Xing Yang,et al. Model-free and Uncalibrated Visual-feedback Control of Magnetically-Actuated Flexible Endoscopes[C],2022:5930-5936.