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  4. Enhancing Accuracy in Transendoscopic Concentric Tube Robots for Monocular Endoscope Guidance

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.

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