Development of a flexible endoscopic robot with autonomous tracking control ability using machine vision and deep learning
Sen Qian,
Jianxi Zhang,
Zongkun Pei
et al.
Abstract:Abstract. A flexible endoscopic robot is designed to solve the problem that it is difficult for auxiliary doctors to maintain a stable visual field in traditional endoscopic surgery. Based on geometric derivation, a motion control method under the constraint of the remote center motion (RCM) of the robot system is established, and a set of circular trajectories are planned for it. The RCM error of the robot during operation and the actual trajectory of the robot end in three-dimensional space are obtained thro… Show more
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