Flexible Robotic Endoscopes for Minimally Invasive Surgery Applications
Yoeko Mak is a PhD student in the department Robotics and Mechatronics. (Co)Promotors are dr.ir. M. Abayazid and prof.dr.ir. S. Stramigioli from the faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente.
Accurate endoscopic camera control is essential for the success of many minimally invasive procedures. Various research efforts have introduced soft actuators to improve the maneuvering performance of flexible endoscopic tools while also enhancing safety due to their inherent mechanical compliance. To advance soft endoscopic tools towards clinical practice, improvements must be made with respect to their control precision, repeatability, and the amount of force that the soft actuator can exert. Furthermore, incorporating a robotic control interface addresses the main drawback of using flexible endoscopes, namely their nonintuitive control, reducing the learning time required for new clinicians to become proficient in using flexible endoscopes.
The first part of this thesis contains the research work performed in order to improve the soft actuator performance to meet minimally invasive surgery needs. The soft pneumatic actuator designs and control method are presented with the goal of improving its size, motion, and force characteristics. The second part of this thesis focuses on the development and evaluation of a robotic interface for flexible endoscopes. The developed control and haptic interface aim to provide a more intuitive control and guidance method for surgeons to use a flexible endoscope. These advancements can help improve robotic flexible endoscope capabilities, ease of use, and ergonomics, which ultimately will lead to a better standard of care in the operating room.
