Dynamic tracking of anatomical object for a steerable endoscope

The performance of MIS is usually limited by restricted view field and awkward tool manipulation. An intelligent auto-tracking steerable endoscope has been proposed to solve the restricted view field issue. We design a flexible tip for an endoscope, which was actuated by cable-driven method. The flexible tip can rotate in all direction dynamically to keep the target within the view filed during the tools operating on the anatomy. The kinematic model to describe the view filed of the steerable endoscope is derived and experimental verification on auto-tracking of the target object has been performed.