Active handheld flexible fetoscope–design and control based on a modified generalized prandtl-ishlinski model

Julie Legrand, Dries Dirckx, Maarten Durt, Mouloud Ourak, Jan Deprest, Sebastien Ourselin, Jun Qian, Tom Vercauteren, Emmanuel Vander Poorten

Onderzoeksoutput: Conference paper

5 Citaten (Scopus)

Samenvatting

F1exible fetoscopes have been introduced in prior literature as a new surgical tool to limit the stresses applied on the fetal membrane during fetoscopic laser surgery and therefore avoid iatrogenic preterm premature rupture of membranes. However, previous flexible fetoscopes are either too large or do not foresee all the tools that are essential to the success of the targeted procedure. This study proposes the design and control of a single-handed active flexible fetoscope. The instrument is equipped with a camera, a light source, and a working channel while remaining compact (350 mm length and 30 mm wide, with a shaft of 3 mm diameter) and lightweight (87g). It is proposed to use a modified generalized PrandtlIshlinski model for hysteresis compensation as control method. The experimental results indicate that this method allows the instrument to reach a positioning accuracy of up to 4.5%. This suggests that a modified generalized Prandtl-Ishlinski model can therefore be used to compensate for an entire system (e.g. a fetoscope) affected by hysteresis and friction.

Originele taal-2English
Titel2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Plaats van productieBoston, MA, USA
UitgeverijIEEE
Pagina's367 - 374
Aantal pagina's8
Volume2020
ISBN van elektronische versie978-1-7281-6794-7
DOI's
StatusPublished - jul 2020

Publicatie series

NaamIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2020-July

Vingerafdruk

Duik in de onderzoeksthema's van 'Active handheld flexible fetoscope–design and control based on a modified generalized prandtl-ishlinski model'. Samen vormen ze een unieke vingerafdruk.

Citeer dit