Sensing and Control of a Magnetically Actuated Endoscopic Devices
Hellebore Fass (BE-IRHVK), Sarthak Misra (BE-IRHVK), Venkat Venkiteswaran (BE-IRHVK)
Abstract
Introduction:
Endoscopic devices have been crucial in the development of minimally invasive surgery. While the surrounding technology as evolved to high tech standards with robotic surgery, the underlying principle of the endoscope remained the same. A novel design uses a magnet at the tip of the endoscope to pull the device at its tip instead of pushing it from its base. As the actuation force is applied at the tip instead of the base, the approach could increase dexterity and versatility during endoscopic procedures. However, as the force is applied via magnets it is outside the direct control of the clinician and results in challenges for the control of the device.
Methods:
This work proposes a novel approach to sensing and control designed for magnetically driven endoscopic devices. The magnet used for actuation would hinder common forms of electromagnetic tracking. However by characterising the magnetic field the relative distance between sensors in the device and the external magnet might be calculated, effectively using the external magnet as a navigation beacon.
Results:
The magnetic localisation sensor concept is compared to other investigated tracking methods on their possible compatibility with magnetically driven endoscopic devices. First benchtop experiments of the magnetic localisation sensing and control concept have been implemented and indicate a feasibility of the technology.
Conclusion:
This novel sensing and control concept could enable a save and reliable navigation with the next generation of magnetically driven endoscopes, leading to improved navigation and dexterity during endoscopic minimally invasive surgery.