Image-based hysteresis reduction for the control of flexible endoscopic instruments

摘要: The limited dexterity of conventional flexible endoscopic instruments restricts the clinical procedures that can be performed by endoscopy. Advanced with a higher degree are being developed, but difficult to control manually. Adding actuators these may make them easier control. However, intrinsic hysteresis is present between and tip instrument needs reduced in order allow accurate We an esti- mation algorithm determines all three degrees freedom instrument: insertion, rotation, bending. estimation on-line. images used as only feedback, no additional sensors placed on instrument, which beneficial for application practice. estimated parameters reduce present. Experimental validation showed reduction 75%, 78%, 73% bending freedom, respectively.