  We present an orientation adaptive controller to compensate for the effects
of highly constrained environments on continuum manipulator actuation. A
transformation matrix updated using optimal estimation techniques from optical
flow measurements captured by the distal camera is composed with any Jacobian
estimation or kinematic model to compensate for these effects. By utilizing
domain knowledge to define the structure of this matrix, fewer parameters need
to be estimated and a stable controller can be guaranteed. The algorithm is
tested on a custom robotic catheter and convergence is shown both empirically
and theoretically.
