Capacitive Proximity Sensor for Non-Contact Endoscope Localization

Marzi C, Alagi H, Rau O, Hampe J, Korvink JG, Hein B, Mathis-Ullrich F (2022)

Publication Type: Conference contribution

Publication year: 2022

Journal

Proceedings - IEEE International Conference on Robotics and Automation Institute of Electrical and Electronics Engineers

Publisher: Institute of Electrical and Electronics Engineers Inc.

Pages Range: 9614-9620

Conference Proceedings Title: Proceedings - IEEE International Conference on Robotics and Automation

Event location: Philadelphia, PA US

ISBN: 9781728196817

DOI: 10.1109/ICRA46639.2022.9811734

Abstract

The promising automation of flexible surgical instruments and robots is impeded by the lack of sensory means, which allow for sensing of an instrument's position to the surrounding tissue. This work presents a novel sensory method utilizing capacitive proximity sensing to derive a relative localization of a flexible instrument inside a hollow organ. The method is evaluated by exemplary integration of a sensor in a commercial gastroendoscope and accuracy analysis using a high precision robot. The results show an accuracy of distance sensing from a medical phantom's center of 2%. The method is also evaluated for the irregularly shaped surrounding of ex-vivo tissue in a dynamic scenario. This promising approach holds potential for transfer to clinical scenarios and for further development towards pose estimation of flexible surgical robots and shape sensing of a minimally invasive environment.

Authors with CRIS profile

Franziska Mathis-Ullrich

Involved external institutions

Karlsruhe Institute of Technology (KIT) DE Germany (DE) Universitätsklinikum Carl Gustav Carus Dresden DE Germany (DE)

How to cite

APA:

Marzi, C., Alagi, H., Rau, O., Hampe, J., Korvink, J.G., Hein, B., & Mathis-Ullrich, F. (2022). Capacitive Proximity Sensor for Non-Contact Endoscope Localization. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 9614-9620). Philadelphia, PA, US: Institute of Electrical and Electronics Engineers Inc..

MLA:

Marzi, Christian, et al. "Capacitive Proximity Sensor for Non-Contact Endoscope Localization." Proceedings of the 39th IEEE International Conference on Robotics and Automation, ICRA 2022, Philadelphia, PA Institute of Electrical and Electronics Engineers Inc., 2022. 9614-9620.

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