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Magnetically actuated tool state estimation using miniature pickup coils
Magnetic actuation systems can be used to move surgical tools such as catheters, endoscopes or guidewires. Accurately estimating the state of such tools is necessary especially in clinical applications. In this project the usage of miniature pickup coils integrated in such tools for the purpose of state estimation should be investigated.
Keywords: - Magnetic Actuation
- 6 DOF localization
- State Estimation
- Pickup Coil
The tasks of this thesis will consist of the following:
- Implement analog signal conditioning for the pickup coil signals
- Digital signal processing of the acquired pickup coil signals
- Acquisiton of spatial fieldmap of pickup coil signals using micropositioning stage (calibration)
- Implement algorithm to match acquired pickup coil signal to a point in space
Knowledge / Experience in the following areas will be useful in this thesis:
- Programming skills in C for digital signal processors
- Basic analog signal processing using OpAmps / simulating analog circuits (e.g. LTSpice or similar)
- Programming skills in Python or Matlab
The tasks of this thesis will consist of the following:
- Implement analog signal conditioning for the pickup coil signals - Digital signal processing of the acquired pickup coil signals - Acquisiton of spatial fieldmap of pickup coil signals using micropositioning stage (calibration) - Implement algorithm to match acquired pickup coil signal to a point in space
Knowledge / Experience in the following areas will be useful in this thesis:
- Programming skills in C for digital signal processors - Basic analog signal processing using OpAmps / simulating analog circuits (e.g. LTSpice or similar) - Programming skills in Python or Matlab
- Estimate the position and orientation of 3D miniature pickup coils based on processing the voltages induced in said pickup coils by the magnetic actuation systems electromagnets.
- Estimate the position and orientation of 3D miniature pickup coils based on processing the voltages induced in said pickup coils by the magnetic actuation systems electromagnets.
Denis von Arx
dvarx@ethz.ch
Multi Scale Robotics Lab
ETH Zurich
Tannenstrasse 3
CLA H17.1
8092 Zürich
Denis von Arx dvarx@ethz.ch Multi Scale Robotics Lab ETH Zurich Tannenstrasse 3 CLA H17.1 8092 Zürich