Simultaneous Physiological Motion Cancellation and Depth Adaptation in Flexible Endoscopy

Flexible endoscopes are used in many diagnostic exams and surgical procedures in gastroenterology as well as in natural orifice transluminal endoscopic surgery. In order to assist the surgeon during these difficult procedures, physiological motion cancellation has been successfully applied on a robo...

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Bibliographic Details
Published in:IEEE transactions on biomedical engineering 2009-09, Vol.56 (9), p.2322-2326
Main Authors: Ott $^$, Laurent, Nageotte, Florent, Zanne, Philippe, de Mathelin, Michel
Format: Article
Language:English
Subjects:
Algorithms
Cameras
Computer Simulation
Endoscopes
Endoscopy - methods
Flexible endoscopy
Humans
Image Processing, Computer-Assisted - methods
In vitro
Models, Biological
Motion
Motion control
Orifices
physiological motion cancellation
repetitive control
Reproducibility of Results
Respiration
Surgery
Surges
Visual servoing
Wheels
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Summary:Flexible endoscopes are used in many diagnostic exams and surgical procedures in gastroenterology as well as in natural orifice transluminal endoscopic surgery. In order to assist the surgeon during these difficult procedures, physiological motion cancellation has been successfully applied on a robotized endoscope. However, the stability and performance of the classical controllers were ensured only on a small working area, thus preventing the surgeon to manually move the endoscope during motion rejection. In this paper, we propose original methods to improve the physiological motion rejection while taking into account manual depth changes performed by the surgeon. For this purpose, an adaptive repetitive controller based on depth estimation is proposed. The validity of the approach is demonstrated in in vitro experiments.
ISSN:0018-9294
1558-2531
DOI:10.1109/TBME.2009.2024213