*Result*: Stereo Vision-Based Control of Continuum Robots and Hyper-Redundant Robots for Endoscopy.
Title:
Stereo Vision-Based Control of Continuum Robots and Hyper-Redundant Robots for Endoscopy.
Authors:
Fritsch S; Department of Mechanical Engineering and Transport Systems, Technical University Berlin, Berlin, Germany., Oberschmidt D; Department of Mechanical Engineering and Transport Systems, Technical University Berlin, Berlin, Germany.
Source:
The international journal of medical robotics + computer assisted surgery : MRCAS [Int J Med Robot] 2026 Feb; Vol. 22 (1), pp. e70136.
Publication Type:
Journal Article
Language:
English
Journal Info:
Publisher: Wiley Country of Publication: England NLM ID: 101250764 Publication Model: Print Cited Medium: Internet ISSN: 1478-596X (Electronic) Linking ISSN: 14785951 NLM ISO Abbreviation: Int J Med Robot Subsets: MEDLINE
Imprint Name(s):
Publication: 2006- : West Sussex, England : Wiley
Original Publication: Ilkley, UK : Robotic Publications, c2004-
Original Publication: Ilkley, UK : Robotic Publications, c2004-
MeSH Terms:
References:
M. J. Simoff, M. A. Pritchett, J. S. Reisenauer, et al., “Shape‐Sensing Robotic‐Assisted Bronchoscopy for Pulmonary Nodules: Initial Multicenter Experience Using the Ion Endoluminal System,” BMC Pulmonary Medicine 21, no. 1 (2021): 322, https://doi.org/10.1186/s12890‐021‐01693‐2.
J. Jiang, S. H. Chang, A. J. Kent, T. C. Geraci, and R. J. Cerfolio, “Current Novel Advances in Bronchoscopy,” Frontiers in Surgery 7 (2020): 596925, https://doi.org/10.3389/fsurg.2020.596925.
Y. Chen, C. Zhang, Z. Wu, et al., “The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid‐Port, and Single‐Port Procedures,” IEEE/ASME Transactions on Mechatronics 27, no. 5 (2021): 3186–3197, https://doi.org/10.1109/tmech.2021.3110883.
Yu Chen, Y. Zheng, P. Wang, Q. Wang, F. Yang, and S. Zhou, “Single‐Port Robotic Surgery Using the EDGE SP1000 Surgical System in Gynaecology: Initial Experience of a Single Institution,” International Journal of Medical Robotics and Computer Assisted Surgery 20, no. 1 (2023): e2578, https://doi.org/10.1002/rcs.2578.
A. Sorriento, M. Porfido, P. Dario, et al., “Optical and Electromagnetic Tracking Systems for Biomedical Applications: A Critical Review on Potentialities and Limitations,” IEE Reviews in Biomedical Engineering 13 (2020): 212–232, https://doi.org/10.1109/rbme.2019.2939091.
J. Cartucho, C. Wang, B. Huang, D. S. Elson, A. Darzi, and S. Giannarou, “An Enhanced Marker Pattern That Achieves Improved Accuracy in Surgical Tool Tracking,” Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization 10, no. 4 (2022): 400–408, https://doi.org/10.1080/21681163.2021.1997647.
Z. Wang, S. C. Lee, R. H. Taylor, et al., “Image‐Based Trajectory Tracking Control of 4‐DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker,” IEEE Robotics and Automation Letter 2, no. 3 (2017): 1586–1592, https://doi.org/10.1109/lra.2017.2676350.
Y. Watanabe, T. Kato, and M. Ishikawa, “Extended Dot Cluster Marker for High‐Speed 3D Tracking in Dynamic Projection Mapping,” in 2017 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) (IEEE, 2017), 52–61.
A. Censi, J. Strubel, and D. Scaramuzza, “Low‐Latency Localization by Active LED Markers Tracking Using a Dynamic Vision Sensor,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE, 2013), 891–898.
I. Stancic, T. Supuk, and A. Panjkota, “Design, Development and Evaluation of Optical Motion‐Tracking System Based on Active White Light Markers,” IET Science, Measurement & Technology 7, no. 4 (2012): 206–214, https://doi.org/10.1049/iet‐smt.2012.0157.
Y. Mikawa, C. Eichhorn, and G. Klinker, “Multi‐Color LED Marker for Dynamic Target Tracking in Wide Area,” in 2023 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW) (IEEE, 2023), 669–670.
R. Jain, T. Kasturi, and B. Schunck, Machine Vision (McGraw‐Hill, 1995): Textbook.
R. E. Kalman, “A New Approach to Linear Filtering and Prediction Problems,” Transactions of the ASME–Journal of Basic Engineering 82, no. 1 (1960): 35–45, https://doi.org/10.1115/1.3662552.
S. Fritsch and D. Oberschmidt, “Getting From a 3D, Dexterous, Single‐Port Workspace to a One‐Segment Continuum Robot,” Mechatronics 101 (2024): 103194, https://doi.org/10.1016/j.mechatronics.2024.103194.
S. Fritsch and D. Oberschmidt, “Articulating Robotic Arm for Minimally Invasive Surgery, Surgical Robot and Method for Production,” in US Patent App. 17/981,279, 2023 (Pending), German Patent Already Granted: 10 2021 128 809.6 (2023).
M. W. Hannan and I. D. Walker, “Kinematics and the Implementation of an Elephant’s Trunk Manipulator and Other Continuum Style Robots,” Journal of Robotic Systems 20, no. 2 (2003): 45–63, https://doi.org/10.1002/rob.10070.
J. Wan, J. Yao, L. A. Zhang, and H. Wu, “A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria,” Journal of Mechanical Engineering 64 (2018), https://www.sv‐jme.eu/?ns_articles_pdf=/ns_articles/files/ojs/5182/public/5182‐29667‐1‐PB.pdf&id=6131.
J. Jiang, S. H. Chang, A. J. Kent, T. C. Geraci, and R. J. Cerfolio, “Current Novel Advances in Bronchoscopy,” Frontiers in Surgery 7 (2020): 596925, https://doi.org/10.3389/fsurg.2020.596925.
Y. Chen, C. Zhang, Z. Wu, et al., “The SHURUI System: A Modular Continuum Surgical Robotic Platform for Multiport, Hybrid‐Port, and Single‐Port Procedures,” IEEE/ASME Transactions on Mechatronics 27, no. 5 (2021): 3186–3197, https://doi.org/10.1109/tmech.2021.3110883.
Yu Chen, Y. Zheng, P. Wang, Q. Wang, F. Yang, and S. Zhou, “Single‐Port Robotic Surgery Using the EDGE SP1000 Surgical System in Gynaecology: Initial Experience of a Single Institution,” International Journal of Medical Robotics and Computer Assisted Surgery 20, no. 1 (2023): e2578, https://doi.org/10.1002/rcs.2578.
A. Sorriento, M. Porfido, P. Dario, et al., “Optical and Electromagnetic Tracking Systems for Biomedical Applications: A Critical Review on Potentialities and Limitations,” IEE Reviews in Biomedical Engineering 13 (2020): 212–232, https://doi.org/10.1109/rbme.2019.2939091.
J. Cartucho, C. Wang, B. Huang, D. S. Elson, A. Darzi, and S. Giannarou, “An Enhanced Marker Pattern That Achieves Improved Accuracy in Surgical Tool Tracking,” Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization 10, no. 4 (2022): 400–408, https://doi.org/10.1080/21681163.2021.1997647.
Z. Wang, S. C. Lee, R. H. Taylor, et al., “Image‐Based Trajectory Tracking Control of 4‐DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker,” IEEE Robotics and Automation Letter 2, no. 3 (2017): 1586–1592, https://doi.org/10.1109/lra.2017.2676350.
Y. Watanabe, T. Kato, and M. Ishikawa, “Extended Dot Cluster Marker for High‐Speed 3D Tracking in Dynamic Projection Mapping,” in 2017 IEEE International Symposium on Mixed and Augmented Reality (ISMAR) (IEEE, 2017), 52–61.
A. Censi, J. Strubel, and D. Scaramuzza, “Low‐Latency Localization by Active LED Markers Tracking Using a Dynamic Vision Sensor,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE, 2013), 891–898.
I. Stancic, T. Supuk, and A. Panjkota, “Design, Development and Evaluation of Optical Motion‐Tracking System Based on Active White Light Markers,” IET Science, Measurement & Technology 7, no. 4 (2012): 206–214, https://doi.org/10.1049/iet‐smt.2012.0157.
Y. Mikawa, C. Eichhorn, and G. Klinker, “Multi‐Color LED Marker for Dynamic Target Tracking in Wide Area,” in 2023 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW) (IEEE, 2023), 669–670.
R. Jain, T. Kasturi, and B. Schunck, Machine Vision (McGraw‐Hill, 1995): Textbook.
R. E. Kalman, “A New Approach to Linear Filtering and Prediction Problems,” Transactions of the ASME–Journal of Basic Engineering 82, no. 1 (1960): 35–45, https://doi.org/10.1115/1.3662552.
S. Fritsch and D. Oberschmidt, “Getting From a 3D, Dexterous, Single‐Port Workspace to a One‐Segment Continuum Robot,” Mechatronics 101 (2024): 103194, https://doi.org/10.1016/j.mechatronics.2024.103194.
S. Fritsch and D. Oberschmidt, “Articulating Robotic Arm for Minimally Invasive Surgery, Surgical Robot and Method for Production,” in US Patent App. 17/981,279, 2023 (Pending), German Patent Already Granted: 10 2021 128 809.6 (2023).
M. W. Hannan and I. D. Walker, “Kinematics and the Implementation of an Elephant’s Trunk Manipulator and Other Continuum Style Robots,” Journal of Robotic Systems 20, no. 2 (2003): 45–63, https://doi.org/10.1002/rob.10070.
J. Wan, J. Yao, L. A. Zhang, and H. Wu, “A Weighted Gradient Projection Method for Inverse Kinematics of Redundant Manipulators Considering Multiple Performance Criteria,” Journal of Mechanical Engineering 64 (2018), https://www.sv‐jme.eu/?ns_articles_pdf=/ns_articles/files/ojs/5182/public/5182‐29667‐1‐PB.pdf&id=6131.
Entry Date(s):
Date Created: 20260119 Date Completed: 20260119 Latest Revision: 20260211
Update Code:
20260211
DOI:
10.1002/rcs.70136
PMID:
41549389
Database:
MEDLINE
*Further Information*
*Background: Traditional control of continuum robots (CRs) and hyper-redundant robots (HRRs) typically relies on large, costly consoles to capture physician input. This raises the question of whether such systems can be simplified without losing functionality.
Methods: A low-cost, real-time control system was developed for a 7-DoF CR/HRR using a handheld, pencil-like wireless handle equipped with only two passive optical markers. The handle directly controls 5 DoF, while the remaining 2 DoF are resolved through null-space projection for length minimisation and a roll-compensation method that maintains horizontal endoscopic image alignment.
Results: The system enabled effective real-time control of a redundant 7-DoF CR/HRR using only two tracked markers. The supplementary constraints successfully managed redundancy, minimised robot length, and preserved horizontal imaging.
Conclusions: This work presents a compact two-marker input device, a null-space-based length-minimisation strategy, and a roll-compensation method for endoscopic imaging.
(© 2026 John Wiley & Sons Ltd.)*