Control of a multiple sections flexible endoscopic system

The use of flexible endoscopes in new surgical procedures such as NOTES, i.e. Natural Orifice Transluminal Endoscopic Surgery, raises many problems. Indeed, the movements of conventional flexible endoscopes are limited and surgeons can only perform basic tasks with these systems. In order to enhance endoscope possibilities and workspace, we are currently developing a robotized system. The prototype we propose is based on the combination of several flexible endoscopes. The kinematic model of the system is detailed in order to develop a method of control. The paper presents the implementation of a control strategy using an external sensor which allows to deal with non linearities induced by the cable mechanism of the endoscopes.