Colonoscopy Robot
I developed software for a 4-DOF robotic colonoscopy platform designed to reduce operator effort during endoscope navigation. My work focused on teleoperation, tip localization, remote operation, and live visualization.
Control and Teleoperation
The robot runs on a Jetson Nano and uses an Xbox controller for four motorized degrees of freedom. I mapped controller inputs into the Dynamixel control stack and used ROS to connect actuation, sensing, and visualization.
I also configured Tailscale for remote access and tested the system over a remote network connection to evaluate teleoperation behavior away from the local setup.
Tip Localization
I integrated an NDI Aurora electromagnetic tracker to measure the position and orientation of the colonoscope tip in real time. The tracking data is logged alongside the experiment data and video so the scope’s motion through the test environment can be reconstructed afterward.
Vision and Operator Interface
A miniature camera at the end of the scope provides the operator’s live view during navigation. I integrated that stream into the interface so control and visualization stay in one place.
A collaborating researcher developed the tumor-detection model. I connected the camera and visualization path so those detections could be displayed alongside the live endoscope feed without implying ownership of the model itself.