Sensor architecture for a two-actuator robotic endoscope tip

Abstract

An angular positioning methodology for a two-actuator robotic endoscope tip is presented. The actuators used to position the tip of the endoscope and tools in the tool channel are miniature rotary motors configured to pull mono-filament cables. The sensors used in this system are a camera at the tip and two three-axis gyroscopes. This paper discusses the electrical hardware and communications architecture of the system. A model to account for the dynamic nonlinearities in the system is introduced, experimental results are presented, and control schemes necessary to position the tip is outlined. It was found that the maximum rotational speed of the tip is 400 degrees per second and that the windup delay is around 50 ms which allows for fast angular positioning.