An Automatic Object Tracking Steerable Endoscope

2013 ◽  
Vol 7 (3) ◽  
Author(s):  
Ping-Lang Yen ◽  
Yi-Jing Chu ◽  
Rey-Heng Hu ◽  
Chi-Chuan Yeh ◽  
Ren C. Luo
Keyword(s):  
Laparoscopic Surgery ◽  
Object Tracking ◽  
Kinematic Model ◽  
Target Object ◽  
Servo Control ◽  
Shared Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Surgical Tools ◽  
Control Purpose

We design an auto-tracking flexible tip for an endoscope to implement the shared control in assistive laparoscopic surgery. The flexible tip can bend in all direction dynamically to keep the target within the visible filed during surgical tools operating on the anatomy. The kinematic model to describe the view filed of the steerable endoscope has been derived for control purpose. Experimental verification on auto-tracking of the target object using visual servo control has also been performed.

scholarly journals Optimal Projection Pattern for Active Visual Servoing (AVS)

2021 ◽  
Author(s):  
SHOGO ARAI ◽  
Yoshihiro Miyamoto ◽  
Akinari Kobayashi ◽  
Kazuhiro Kosuge
Keyword(s):  
Visual Servoing ◽  
Target Object ◽  
Servo Control ◽  
Visual Features ◽  
Positioning Error ◽  
Robotic Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Optimal Projection ◽  
Projection Pattern

<p>Visual servo control uses images that are obtained by a camera for robotic control. This study focuses on the problem of positioning a target object using a robotic manipulator with image-based visual servo (IBVS) control. To perform the positioning task, the image-based visual servoing requires visual features that can be extracted from the appearance of the target object. Therefore, a positioning error tends to increase especially for textureless objects, such as industrial parts. Since it is difficult to extract differences of the visual features between current and goal images. To solve these problems, this paper presents a novel visual servoing named ``Active Visual Servoing." Active Visual Servoing (AVS) projects patterned light onto the target object using a projector. The design of the projection pattern affects the positioning error. AVS uses an optimal pattern which is theoretically derived and maximizes differences between current and goal images. The experimental results show that the proposed active visual servoing method reduces the positioning error by more than 97% compared to conventional image-based visual servoing.</p>

scholarly journals Optimal Projection Pattern for Active Visual Servoing (AVS)

2021 ◽  
Author(s):  
SHOGO ARAI ◽  
Yoshihiro Miyamoto ◽  
Akinari Kobayashi ◽  
Kazuhiro Kosuge
Keyword(s):  
Visual Servoing ◽  
Target Object ◽  
Servo Control ◽  
Visual Features ◽  
Positioning Error ◽  
Robotic Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Optimal Projection ◽  
Projection Pattern

<p>Visual servo control uses images that are obtained by a camera for robotic control. This study focuses on the problem of positioning a target object using a robotic manipulator with image-based visual servo (IBVS) control. To perform the positioning task, the image-based visual servoing requires visual features that can be extracted from the appearance of the target object. Therefore, a positioning error tends to increase especially for textureless objects, such as industrial parts. Since it is difficult to extract differences of the visual features between current and goal images. To solve these problems, this paper presents a novel visual servoing named ``Active Visual Servoing." Active Visual Servoing (AVS) projects patterned light onto the target object using a projector. The design of the projection pattern affects the positioning error. AVS uses an optimal pattern which is theoretically derived and maximizes differences between current and goal images. The experimental results show that the proposed active visual servoing method reduces the positioning error by more than 97% compared to conventional image-based visual servoing.</p>

Navigation Function Based Visual Servo Control

2004 ◽  
Author(s):  
J. Chen ◽  
D. M. Dason ◽  
W. E. Dixon ◽  
V. K. Chitrakaran
Keyword(s):  
Servo Control ◽  
Visual Servo ◽  
Visual Servo Control ◽  
Navigation Function
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