Proceedings of the
World Congress on Micro and Nano Manufacturing (WCMNM 2022 )
19–22 September 2022, Lueven, Belgium
doi:10.3850/978-981-18-5180-3_RP59-0031
The Design and Control Scheme of Miniature Serpentine Robot for In-Body Visual Servo Applications
Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan
ABSTRACT
This paper describes the design and control scheme of miniature serpentine robot for in-body visual servo applications. This miniature serpentine robot is mainly composed of a bending section with a CMOS sensor at the tip which can be manipulated by wires (tendons) and performs visual servo motion via 2 degrees of freedom for movements (up-down and right-left) according to real time visual information captured by the CMOS sensor and analyzed by our proposed control scheme, a main serpentine robotics section, and a controller module which controls the movements of the bending section (how much for the degree of bending) and serpentine robotics section (moving forward or backward at which speed). This miniature robot can be applied to endoscopic operations, especially for bronchoscopy applications with examination, biopsy, and medicine delivery. Design and control scheme for this will be proposed for this miniature serpentine robot. And implementation results will show the feasibility and practicality of the miniature serpentine robot for the following system and product design.
Keywords: Miniature Serpentine Robot, Visual Servo, Endoscopy/Bronchoscopy Applications, Image Processing.
Mechanical and Mechatronics Systems Research Laboratories, Industrial Technology Research Institute, Hsinchu, Taiwan
ABSTRACT
This paper describes the design and control scheme of miniature serpentine robot for in-body visual servo applications. This miniature serpentine robot is mainly composed of a bending section with a CMOS sensor at the tip which can be manipulated by wires (tendons) and performs visual servo motion via 2 degrees of freedom for movements (up-down and right-left) according to real time visual information captured by the CMOS sensor and analyzed by our proposed control scheme, a main serpentine robotics section, and a controller module which controls the movements of the bending section (how much for the degree of bending) and serpentine robotics section (moving forward or backward at which speed). This miniature robot can be applied to endoscopic operations, especially for bronchoscopy applications with examination, biopsy, and medicine delivery. Design and control scheme for this will be proposed for this miniature serpentine robot. And implementation results will show the feasibility and practicality of the miniature serpentine robot for the following system and product design.
Keywords: Miniature Serpentine Robot, Visual Servo, Endoscopy/Bronchoscopy Applications, Image Processing.
