Image-Based Flexible Endoscope Steering

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    19 Citations (Scopus)
    392 Downloads (Pure)

    Abstract

    Manually steering the tip of a flexible endoscope to navigate through an endoluminal path relies on the physician’s dexterity and experience. In this paper we present the realization of a robotic flexible endoscope steering system that uses the endoscopic images to control the tip orientation towards the direction of the lumen. Two image-based control algorithms are investigated, one is based on the optical flow and the other is based on the image intensity. Both are evaluated using simulations in which the endoscope was steered through the lumen. The RMS distance to the lumen center was less than 25% of the lumen width. An experimental setup was built using a standard flexible endoscope, and the image-based control algorithms were used to actuate the wheels of the endoscope for tip steering. Experiments were conducted in an anatomical model to simulate gastroscopy. The image intensity- based algorithm was capable of steering the endoscope tip through an endoluminal path from the mouth to the duodenum accurately. Compared to manual control, the robotically steered endoscope performed 68% better in terms of keeping the lumen centered in the image.
    Original languageUndefined
    Title of host publicationThe 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages2339-2344
    Number of pages6
    ISBN (Print)978-1-4244-6676-4
    DOIs
    Publication statusPublished - 18 Oct 2010
    Event2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    Duration: 18 Oct 201022 Oct 2010

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010
    Abbreviated titleIROS
    CountryTaiwan, Province of China
    CityTaipei
    Period18/10/1022/10/10

    Keywords

    • IR-75009
    • EWI-18923
    • METIS-271156

    Cite this