SYSTEMS AND METHODS FOR RESPONSIVE INSERTION AND RETRACTION OF ROBOTIC ENDOSCOPE

SYSTEMS AND METHODS FOR RESPONSIVE INSERTION AND RETRACTION OF ROBOTIC ENDOSCOPE

A method is provided for controlling a tip velocity of an articulating flexible endoscope. The method comprises: generating a command to move a tip of an elongated member of the articulating flexible endoscope at an expected velocity; receiving sensor data acquired by a sensor disposed at a distal t...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: SLAWINSKI, Piotr Robert, KESHTGAR, Maziyar, PEDRAM, Sahba Aghajani
Format: Patent
Sprache:eng
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:A method is provided for controlling a tip velocity of an articulating flexible endoscope. The method comprises: generating a command to move a tip of an elongated member of the articulating flexible endoscope at an expected velocity; receiving sensor data acquired by a sensor disposed at a distal tip portion of the elongated member to calculate a tip velocity; calculate a disparity between the expected velocity and the tip velocity; and controlling the tip velocity based on the disparity.