Learn More
— A position and orientation sensing system is developed for the feedback control of endoscopic instruments in advanced flexible endoscopes. The images that are taken by the endoscopic camera are used to match a kinematic model to the observed instrument. Using the pseudo-inverse of the Jacobian of the forward kinematics, the estimated state of the model is(More)
— In this paper a structure will be given which in a remarkably simple way offers a solution to the implementation of different telemanipulation schemes for discrete time varying delays by preserving passivity and allowing the highest transparency possible. This is achieved by splitting the communication channel in two separate ones, one for the energy(More)
— A system is developed that can reconstruct the pose of flexible endoscopic instruments that are used in advanced flexible endoscopes using solely the endoscopic images. Four markers are placed on the instrument, whose positions are measured in the image. These measurements are compared to a three-dimensional rendered model of the instrument. The(More)
— The goal of this study is to improve the efficiency and efficacy of the standard colonoscopy procedure. This is done by addressing the intuitiveness of colonoscope control. For this purpose an interface in the form of a grip was designed that allows the user to intuitively steer and drive the colonoscope. The Grip controls the orientation of the tip as if(More)
— In current video-assisted thoracic surgery, the endoscopic camera is operated by an assistant of the surgeon, which has several disadvantages. This paper describes a system which enables the surgeon to control the endoscopic camera without the help of an assistant. The system is controlled using head movements, so the surgeon can use his/her hands to(More)
PURPOSE Endoscopic images can be used to allow accurate flexible endoscopic instrument control. This can be implemented using a pose estimation algorithm, which estimates the actual instrument pose from the endoscopic images. METHODS In this paper, two pose estimation algorithms are compared: a marker-less and a marker-based method. The marker-based(More)
BACKGROUND Advanced flexible endoscopes and instruments with multiple degrees of freedom enable physicians to perform challenging procedures such as the removal of large sections of mucosal tissue. However, these advanced endoscopes are difficult to control and require several physicians to cooperate. METHODS In this article, we present a robotic system(More)