Voice-Controlled Continuum Robot and Its Hybrid Visual Servoing under Visibility Constraints

• Main Authors: Wu, Chien-Yu, 吳建宇
• Other Authors: Song, Kai-Tai
• Format: Others
• Language: en_US
• Published: 2015
• Online Access: http://ndltd.ncl.edu.tw/handle/u8a85e

碩士 === 國立交通大學 === 電控工程研究所 === 103 === The objective of this study is to develop a method of voice control and hybrid visual servoing for an endoscopic continuum robot, which can be used in nature orifice Minimally Invasive Surgery (MIS). In this design, the continuum robot autonomously tracks an element of interest and maintains its position in a constraint region in the image plane. A method of hybrid visual servoing is proposed to integrate 2D image-based visual servoing (IBVS) to ensure the elements of interest under visibility constraints and 3D position-based visual servoing (PBVS) to adjust the robot to a desired pose in the constraint region. Furthermore, a user can move the end-effector by voice command in order to acquire a desired view. The robotic camera thus provides stable image while the endoscope tracks the element of interest. All software modules are integrated using Robot Operating System (ROS) for controlling the continuum robot. Experimental results obtained from a prototype continuum robot verified the effectiveness of the proposed method.