University of Twente Student Theses
Non-Invasive Sensing Mechanisms for Soft Pneumatic Actuators in Intelligent Robotic Endoscopes
Arul Anand, Srisaran (2025) Non-Invasive Sensing Mechanisms for Soft Pneumatic Actuators in Intelligent Robotic Endoscopes.
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| Abstract: | Minimally Invasive Surgery (MIS) is an advanced medical procedure performed through small incisions with specialized tools and advanced technologies. Compared to conventional open surgery, MIS reduces physical trauma by reducing the size and number of incisions. These procedures require intelligent robotic endoscopes (IRE's) with autonomous maneuvering capabilities, offering sensory feedback beyond traditional endoscopes. A Soft Pneumatic Actuator (SPA) serves an IRE but suffer performance issues when embedded with physical sensors. This thesis aims to establish a sensing mechanism without involving physical sensors on the soft pneumatic actuator. SPA possesses intrinsic sensing capabilities, When a pneumatic actuator interacts with its surroundings, the volume of the SPA changes to external interaction. These interactions can be quantified using external pressure sensors. So the pressure sensor data's collected in the time domain is converted into the frequency domain for analysis. This thesis examines the relationship between pressure, volume, phase shift and external forces acting on the soft pneumatic actuator. A stronger correlation between phase shift, external forces and volume are absorbed in experimental results. Additionally, the soft actuators exhibit varying external forces due to non-linearities and it is reflected in varying phase shifts. The findings conclude that pressure, phase shift and external forces acting on the SPA are directly proportional. Additionally, a simple linear regression model was developed, achieving a root mean square error (RMSE) of 0.024 N. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 44 medicine |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/105420 |
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