Paper Info
Title
Active Handheld Flexible Fetoscope–Design and Control Based on a Modified Generalized Prandtl-Ishlinski Model
Abstract
Flexible 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.
Year
DOI
Venue
2020
10.1109/AIM43001.2020.9158868
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Keywords
DocType
ISSN
hysteresis compensation,camera,active flexible fetoscope,fetoscopic laser surgery,fetal membrane,surgical tool,modified generalized Prandtl-Ishlinski model
Conference
2159-6247
ISBN
Citations 
PageRank 
978-1-7281-6795-4
0
0.34
References 
Authors
7
9
Name
Order
Citations
PageRank
Julie Legrand100.68
Dries Dirckx200.34
Maarten Durt300.34
Mouloud Ourak444.84
Jan Deprest512320.45
Sébastien Ourselin62499237.61
Jun Qian700.34
Tom Vercauteren81956108.68
Emmanuel B. Vander Poorten910120.19