Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope Guidance
AUTHORS
Shrand
Jason ,
d'Almeida
Jesse F. ,
Wilke
Ethan ,
Reed
Amy ,
Kavoussi
Nicholas ,
Herrell
S. Duke ,
Ertop
Tayfun Efe ,
Webster
Robert J. .
International Symposium on Medical Robotics (ISMR).
ABSTRACT
For transendoscopic concentric tube robots to
have high accuracy with respect to endoscope-derived information, they must be calibrated with respect to the endoscope. We propose to accomplish this by defining rays from a monocular endoscope to a set of robot tip locations. Minimizing the error between the rays and tip positions provides a means of calibration. This is a first step toward enabling the robot to use endoscope-derived information in future applications that require accuracy, such as image guidance or automation.
Tags: Conference Papers 2024