Endoscopic end effector control using soft actuator

This bachelor assignment will be focused on the control of the end effector of an endoscope using soft actuators. The aim of this research is to create a control system which enables the end effector to move with a desired motion and control its bending. The end effector can then be controlled with the use of amultiple DoF positional sensing controller, e.g. the PhantomOmni. The significance of using soft actuators is to create a flexible instrument that can re-enact properties of a rigid instrument, namely the stability to perform advanced surgical procedures, by changing its stiffness. Furthermore, soft actuators enable a safer and more comfortable interaction with the human body.