Institute for Drive Systems and Power Electronics Research Research Projects
Fully Actuated Electromagnetic Bending Actuator for Endoscopic Applications

Fully Actuated Electromagnetic Bending Actuator for Endoscopic Applications

Led by:  Prof. Dr.-Ing. Bernd Ponick, Prof. Dr.-Ing. Axel Mertens
Team:  Dipl.-Ing. Michael Dörbaum, M. Sc. Simon Weber, Dipl.-Ing. Svenja Tappe (IMES)
Year:  2015
Funding:  DFG
Duration:  01.07.2013 - 30.06.2015
Is Finished:  yes

The main objective of this research project is to investigate a new concept of a fully actuated endoscope, thus providing two features that are important for endoscopic applications. On the one hand, the endoscope system shall be actuated over its entire length, avoiding together with suitable control algorithms the forming of loops during the advance.  On the other hand, the endosope shall dispose of a certain stiffness to withstand manipulation forces. In this way, a defined position during surgical interactions is possible, enabling a safer treatment of fine structures.

The aforementioned features are realised by a novel electromagnetic bending actuator concept allowing an actuation over the endoscope's entire length. The bending actuator is of modular design, being composed of individual, tiltable actuator elements, each having a tilting angle of some degrees and being able to take discrete angular positions. By sequencing and an appropriate arrangement of the individual elements towards each other, tilting in arbitrary directions is possible.  Due to the high forces acting on the distal ends,  the endoscope can withstand manipulation forces. The segments' simple structure bears high miniaturization potential. They are designed as circular structures, leaving one free work channel in the endoscope's centre.

The project is subdivided into two lines of action. The Institute for Drive Systems and Power Electronics is developing the actual bending actuator, including the decentralised control of the individual actuator elements. The Institute of Mechatronic Systems is designing and investigating the coordination of the individual actuator elements according to the follow-the-leadership concept during the advance.