Sungwook

A Hybrid Vision/Force Control Strategy for Handheld Robotic Devices Enhancing Probe-Based Confocal Laser Endomicroscopy

We introduce a novel hybrid vision/force control strategy for robotic devices designed to obtain clear and consistent images using probe-based confocal laser endomicroscopy (pCLE). Due to the variable nature of tissue characteristics encountered during pCLE imaging, the conventional approach of pre-…