Systems and methods for controlling a robotic endoluminal device

Abstract

A system for controlling a flexible instrument inserted through a working channel of a robotic endoscope. A sensor mounted adjacent the distal opening senses the instrument's motion relative to the working channel, providing measurements of relative rotational (roll) displacement about the channel longitudinal axis and relative axial (insertion / retraction) displacement along that axis. A controller receives the sensor data and proximal command / measurement information, computes relative roll and axial errors as the difference between commanded motions and the measured relative displacements, and generates corrected command signals to the instrument driving mechanism to compensate for the estimated errors. The system provides closed‑loop compensation of insertion and rotational loss due to shaft–channel friction and torsional compliance, improving distal motion fidelity during teleoperated or automated endoscopic procedures.

Images