Design of a target lock for an endoscope using TeleFLEX

Frijnts, S. (2015) Design of a target lock for an endoscope using TeleFLEX.

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Abstract:Flexible endoscopy is used to examine body cavities. An endoscope consists of a flexible tube with a camera in the tip. It is important that the endoscope camera stays focused on the working area during a clinical procedure. The aim of this project is to add a target lock to the robotically steered endoscope, TeleFLEX set-up. An endoscope has hysteresis and deadband between steering of the control handle, and movement of the tip. Meaning, the tip does not always responds to the input of the control handle. During the project, a model of target lock is made with similar hysteresis and deadband dynamics. Different control algorithms are designed, tested in simulations, and integrated on the set-up. The control algorithms use vision to track the selected target and automatically steer the endoscope tip to keep it focussed. One of the control algorithms actively compensate for hysteresis in an endoscope. The different tracking algorithms are tested, using a special test set-up. This set-up allowed the performance of different tracking algorithm to be compared. Results showed hysteresis compensation can help, further research is required to make it more robust. These experiments also shows, the model can be used to predict performance improvements.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
Link to this item:http://purl.utwente.nl/essays/68503
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