3D Visual Servo Control of a Flexible Endoscope with RCM Constraint

被引：0

作者：

Li, Jian ^{[1
]}

Zhang, Xue ^{[1
]}

Huang, Yisen ^{[1
]}

Luo, Xiao ^{[3
]}

Xie, Ke ^{[1
]}

Xian, Yitian ^{[1
]}

Chiu, Philip Waiyan ^{[1
,2
,3
,4
]}

Li, Zheng ^{[1
,2
,3
,4
]}

机构：

[1] Chinese Univ Hong Kong, Dept Surg, Hong Kong, Peoples R China

[2] Chinese Univ Hong Kong, Chow Yuk Ho Technol Ctr Innovat Med, Hong Kong, Peoples R China

[3] Chinese Univ Hong Kong, Multiscale Med Robot Ltd, Hong Kong, Peoples R China

[4] Chinese Univ Hong Kong, Li Ka Shing Inst Hlth Sci, Hong Kong, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT IV | 2022年 / 13458卷

关键词：

Robotic flexible endoscope; 3D visual servo control; Remote center of motion; ROBOT;

D O I：

10.1007/978-3-031-13841-6_5

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In minimally invasive surgery, endoscopes provide visual guidance to surgical operations. To tackle the problems caused by traditional hand-held endoscope, robots are introduced to steer the endoscope. Image based instrument tracking is an effective way to ease the humanrobot-interaction. In this article, we aim to design a 3D visual servoing scheme for a robotic flexible surgical endoscope with algorithm-based RCM constraint. The endoscope consists of two identical cameras and is based on continuum mechanism, mounted on the tip of a UR5 robot arm. This article conducts kinematic modeling of the flexible robotic endoscope to get the mapping from joint space to task space. Then the relationship between depth and joint variables is derived. Finally, to validate the constrained visual servoing scheme, simulation is conducted in V-REP. The results show that it is feasible and effective to achieve 3D visual servoing of the flexible robotic endoscope with RCM constraints.

引用

页码：53 / 63

页数：11

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