University of Twente Student Theses
Experimental evaluation of a head-controlled soft robotic origami-based endoscope with haptic feedback for minimally invasive surgeries
Boer, Q. de (2025) Experimental evaluation of a head-controlled soft robotic origami-based endoscope with haptic feedback for minimally invasive surgeries.
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| Abstract: | In minimally invasive surgery, conventional endoscopic procedures often have limited flexibility, a lack of direct control by the operator, and a lack of haptic feedback to the user. Navigation accuracy through the colon can be reduced because of these limitations, which increase the risk of tissue damage to the intestinal walls. This study validates the use of a soft robotic origami-based endoscope with head-mounted control and haptic feedback to address these challenges. The pressure-angle relationship of the origami-based actuator was characterized, a PI controller was implemented for closed-loop accuracy, and ramp and step input references were tested. In user trials, participants were asked to follow a predetermined 2D path trajectory representing the colon. The user accuracy and experience of various haptic feedback methods were analysed. While for one chamber bending, the PI controller showed improving performance, oscillations at higher bending angles showed limitations to the tuning of the controller. Between the various haptic feedback methods, no statistically significant differences were observed, though an experiential preference was found for two motor vibrations in questionnaires. Overall, the implementation of head-mounted control and haptic feedback for an origami-based soft pneumatic endoscope shows a promising step towards more intuitive and autonomous robotic endoscopy. |
| Item Type: | Essay (Bachelor) |
| Faculty: | TNW: Science and Technology |
| Subject: | 42 biology, 50 technical science in general, 52 mechanical engineering |
| Programme: | Biomedical Technology BSc (56226) |
| Link to this item: | https://purl.utwente.nl/essays/106390 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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