Image-based Motion Control for the Bending Section of a Colonoscope

G. McMurray, D. Zhou, W. Daley, J. Munnae, and H. Lipkin (USA)


Colonoscopy, endoscope, image-based control, robotics


An image guidance control system for colonoscopy is investigated with a dynamic model for the bending section. The lumen image is used to orient the colonoscope tip for tracking as the instrument moves through the colon. Simulation results show controlsystem stability. By automating tip orientation it is expected to reduce doctor training times, improve the efficiency of operations, and reduce surgical errors. Relieving the medical professional from controlling tip orientation should enable greater proficiency in inspecting the lining of the colon for diagnostics and operations, such as biopsy.

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