Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing
Jorge F. Lazo,Chun-Feng Lai,Sara Moccia,Benoit Rosa,Michele Catellani,Michel de Mathelin,Giancarlo Ferrigno,Paul Breedveld,Jenny Dankelman,Elena De Momi,Jorge F. Lazo,Chun-Feng Lai,Sara Moccia,Benoit Rosa,Michele Catellani,Michel de Mathelin,Giancarlo Ferrigno,Paul Breedveld,Jenny Dankelman,Elena De Momi
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endoscopic video. The development of tools to automate certain tasks could alleviate the physical and mental load of doctors during interventions allowing them to focus on diagnosis and decision-making tasks. In this paper we...
