Model-free and Uncalibrated Visual-feedback Control of Magnetically-Actuated Flexible Endoscopes
Jiewen Tan,Junnan Xue,Xing Yang,Sishen Yuan,Wei Liu,Hongliang Ren,Shuang Song,Jiaole Wang,Jiewen Tan,Junnan Xue,Xing Yang,Sishen Yuan,Wei Liu,Hongliang Ren,Shuang Song,Jiaole Wang
Magnetically-actuated flexible endoscopes (MAFE) have been well used in minimally-invasive surgery because they can be steered by a magnetic field thus more flexible than traditional endoscopes. Model-free and uncalibrated visual-feedback control makes it possible to manipulate MAFE with a magnetic field without external tracking systems. Because no extra sensor is required to obtain position and ...
