Non-Invasive Sensing Mechanisms for Soft Pneumatic Actuators in Intelligent Robotic Endoscopes

Gastrointestinal tumours are a significant health concern, requiring effective surgical procedures to minimize pre and post-operative discomfort. Utilizing MRI-based minimally invasive techniques is crucial for faster recovery, precise tumour identification, and excision. The gastrointestinal endoscope is key for diagnosis during these procedures.

To enable MRI compatibility, a silicone-based pneumatic endoscope is ideal due to its nonmagnetic properties. Employing a soft pneumatic actuator with three equidistant pneumatic chambers enhances endoscope manoeuvrability. Precise pressure control is vital for adapting to the dynamic surgical environment.

This research aims to develop online state estimation to regulate chamber pressure accurately, enhancing robot manoeuvrability. This estimation includes monitoring position, orientation, and external forces acting on the end effector. Additionally, an electromagnetic position sensor at the distal end captures the actuator's initial position.
Investigating and improving the execution rate of online state estimation will enhance accuracy and efficiency.