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Copyright (c) 2020 Proceedings on Automation in Medical Engineering
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This paper describes the visual servoing of a robotic endoscope prototype by tracking cartilage in visual feedback from a miniature camera. To track the movement of tissue relative to the camera, three different image processing algorithms were implemented and compared in a first experiment on cartilage of a porcine knee. The experiment showed that tracking cartilage is feasible with a miniature camera and can be used to perform visual servoing with an endoscope.