Model-Based Bending Control of Magnetically-Actuated Robotic Endoscopes for Automatic Retroflexion in Confined Spaces
Yichong Sun,Yehui Li,Jixiu Li,Wing Yin Ng,Yitian Xian,Yisen Huang,Philip Wai Yan Chiu,Zheng Li,Yichong Sun,Yehui Li,Jixiu Li,Wing Yin Ng,Yitian Xian,Yisen Huang,Philip Wai Yan Chiu,Zheng Li
This paper is concerned with the issue of the kinematic model-based bending control for the magnetically actuated robotic endoscope and its application for automatic retroflexion. By the utilization of the Cosserat rod theory and the transformation in the magnetic tip of the endoscope, the comprehensive kinematic model of the magnetically-actuated robotic endoscope is established. Afterward, a mag...
