@inproceedings{36bda67c37aa4c56a9edd2cba3d3c25e,
title = "Endoscope geometrical analysis and kinematic control",
abstract = "Endoscopes are used in medical practice to effect minimally invasive diagnostics and treatments through a natural or surgical orifice. The endoscope is a snakelike device with a two degree-of-freedom articulated tip that bends in any direction using internal cables actuated by knobs. In this paper we use a serial robot model of the tip to show that the tip motions are not decoupled with respect to the knob inputs nor do they have constant gains. Further in a geometrical analysis it is shown that the articulated tip always lies along a circle. A tip kinematic control strategy is developed based on small motions that is able to decouple the output motions from the input motions and provide a constant gain functions. This allows the surgeon to control the endoscope in an intuitive and efficient manner.",
author = "Harvey Lipkin and Jomkwun Munnae and Gary McMurray and Debao Zhou and Wayne Daley",
year = "2008",
doi = "10.1115/DETC2007-35384",
language = "English (US)",
isbn = "0791848027",
series = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",
pages = "231--238",
booktitle = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",
note = "31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 ; Conference date: 04-09-2007 Through 07-09-2007",
}