Thesis Project Form

Flexible endoscopes and their instruments are very demanding to handle.To compensatethe disadvantages of handling,robotic support is proposed. The endoscopeis no longeroperated directly by the surgeon but maneuvered by a robotand controlled by the surgeon via a console. Robot-assistedendoscopy will also enable increasingly complex operations. However, to access hard-to-reach areas of the bodyand to follow the natural pathway automatically, particularlyrobot-aided flexible endoscopes are being developed.

Starting with an extensive literature review the current state of the artonrobot-assisted flexible endoscopy and its input devices for actuation and positionrecognition in the body will be described. This will be categorized, the advantages and disadvantages of the different systems will be mentioned, and specifications for the envisioned system will be defined. There upon, a robot-assisted actuation unit with an input device for a conventional, manually operated gastro-endoscope shall be developed.The development is to be carried out according toVDI guidelines 2206 and 2221following the V-model and the concept of the black box.The constructive implementation is to be carried out using the CAD-softwareCreo Parametric.The manufacturing will be achieved together with the institute’s workshop. Furthermore, subject experiments on an artificial colon model will be defined to allow the comparison of the conventional manual actuation method with the new robotic actuation. The measurement parameters are to be determined for this purpose.

> Application of methods for the systematic development process (VDI guidelines 2206 and 2221).
>Advanced knowledge of the mechanical design process with Creo Parametric.
> Advanced knowledge with microcontrollers (Arduino).
> Plan and execute experiments.
>Scientific presentationskillsof the results in presentations and reports.