Register now After registration you will be able to apply for this opportunity online.
Master Thesis: Contact force evaluation of robotic endoscopic system based on Series Elastic Actuation
In the BIROMED-Lab we have been developing an endoscopic system for safer neurosurgeries with inspiration from human finger anatomy. Its two degrees of freedom allow the endoscope to investigate areas of the brain that would be inaccessible with standard rigid endoscopes. Thanks to springs in the transmission between the motors and the movable endoscope tip, the interaction forces between the instrument and the brain tissue can be reduced. Furthermore the interaction forces can be estimated by measuring the deflection of the spring. To make the telemanipulation of the endoscope safer and more intuitive for the surgeon, force feedback was also implemented.
This master thesis project will focus on the implementation of an additional degree of freedom for insertion, and the following evaluation of the endoscope. Your task will be to develop a test strategy, using a sensorized brain phantom and perform the evaluation experiments.
This master thesis project will focus on the implementation of an additional degree of freedom for insertion, and the following evaluation of the endoscope. Your task will be to develop a test strategy, using a sensorized brain phantom and perform the evaluation experiments.
Test telemanipulation and contact forces of robotic endoscope for neurosurgery
Test telemanipulation and contact forces of robotic endoscope for neurosurgery
Sara Lisa Margherita Ettori (PhD candidate): saralisamargherita.ettori@unibas.ch
Sara Lisa Margherita Ettori (PhD candidate): saralisamargherita.ettori@unibas.ch
Test_SEA_MT.pdf
