Opto-Mechanical Position Sensor


In this project a novel approach to accurately determine the position and shape of a flexible endoscopic structure will be developed. The aim is to achieve an absolute position precision of about 200 μm which is better than the state-of-the-art magnetic or optical tracking systems.

The sensor used in this project measures the position of a light source by analyzing the image of a shadow cast onto an image sensor. Similar technologies based on this solution have already been patented as for example the spaceCoder of CSEM in Neuchâtel (link to video). In contrast to the spaceCoder, the sensor of this project is specialized for the tracking of a robotic endoscope.

The goal of this research project is to develop the fundamental knowledge to implement the proposed solution, to realize prototypes of the basic elements and of the whole system, and to validate and characterize them. The main issues addressed in that project derive from the architecture of the proposed tracking solution, which involves several image sensors, the miniaturization of the sensor, and the integration into the endoscope.

Project leaders: Lorenzo Iafolla and Massimiliano Filipozzi

Lorenzo Iafolla

Lorenzo Iafolla lorenzo.iafolla@unibas.ch

Prof.Dr. Philippe Cattin

Prof.Dr. Philippe Cattin philippe.cattin@unibas.ch

Massimiliano Filipozzi

Massimiliano Filipozzi massimiliano.filipozzi@unibas.ch

Dr. Sara Freund

Dr. Sara Freund sara.freund@unibas.ch

L. Iafolla, M. Filipozzi, S. Freund, A. Zam, G. Rauter and P. C. Cattin.Machine learning-based method for linearization and error compensation of a novel absolute rotary encoder. Measurement in press(2020). read

L. Iafolla, M. Filipozzi, S. Freund, A. Zam, G. Rauter and P. C. Cattin. Proof of Concept of a Novel Absolute Rotary Encoder. Sensor and AcuatorsA 312, 112100 (2020). read

L. Iafolla, L. Witthauer, S. Freund, L. Fasel, A. Zam, G. Rauter and P. C. Cattin. Preliminary Tests of the Miniaturization of a Novel Concept of Angular Sensors. 2019 IEEE SENSORS, Montreal, QC, Canada, 2019, pp. 1-4. read

L. Iafolla, L. Witthauer, S. Freund, A. Zam, G. Rauter and P. C. Cattin. Data Acquisition System for a Medical Tracking Device based on a Novel Angular Sensor : How to Acquire and Process Data from the ASTRAS Tracking System. 2019 IEEE SENSORS, Montreal, QC, Canada, 2019, pp. 1-4. read

L. Iafolla, L. Witthauer, A. Zam, G. Rauter, P. C. Cattin. Proof of Principle of a novel angular sensor concept for tracking system, Sensor and Acuators A 280 390-398 (2018). read

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