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Updated: Jan 20, 2026

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Published on: February 7, 2025

Stereo Vision-Based Control of Continuum Robots and Hyper-Redundant Robots for Endoscopy.

Sven Fritsch¹, Dirk Oberschmidt¹

¹Department of Mechanical Engineering and Transport Systems, Technical University Berlin, Berlin, Germany.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS

|January 19, 2026

Summary

This study introduces a simplified, low-cost control system for continuum robots (CRs) and hyper-redundant robots (HRRs) using a two-marker input device. This innovation enhances functionality without expensive consoles, making advanced robotic control more accessible.

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Area of Science:

Robotics
Medical Technology
Control Systems

Background:

Traditional control of continuum robots (CRs) and hyper-redundant robots (HRRs) requires large, expensive consoles.
Simplifying these systems without sacrificing functionality is a key challenge.

Purpose of the Study:

To develop a low-cost, real-time control system for a 7-DoF CR/HRR.
To simplify physician input for CR/HRR systems.

Main Methods:

A handheld, wireless controller with two passive optical markers was designed.
Direct control of 5 Degrees of Freedom (DoF) was implemented.
Null-space projection for length minimization and roll-compensation for image alignment were used for the remaining 2 DoF.

Main Results:

Effective real-time control of a 7-DoF CR/HRR was achieved with only two markers.
Redundancy was managed, robot length minimized, and horizontal imaging preserved.
The system demonstrated successful control using a simplified input device.

Conclusions:

A compact, two-marker input device for CR/HRR control was developed.
A null-space-based length minimization strategy was presented.
A roll-compensation method for endoscopic imaging was successfully implemented.