Automatização de um guia de endoscopia utilizando controlador PID

Abstract

The endoscope was created to look at parts of the body that were not able to be seen with other devices. This is still the main reason for using the endoscope, however over the years its functionality has increased such as prevention, diagnosis and treatment diseases, requiring a higher precision in this instrument. Unlike the conventional endoscopes, it was developed by Brigham and Women’s Hospital a new endoscope model actuated by the magnetic forces generated by the magnetic field of the magnetic resonance imaging (MRI) scanner. The challenge for the researchers is to control it remotely. This project aims developing a method using proportional–integral–derivative controller (PID control) to automate the endoscope guidance. The methodology sequences utilized in this project were: mathematical modeling of the endoscope, implementing PID controller, integrating a hardware case, testing a sinusoidal half wave signal in the prototype and simulating the feedback control. The results obtained were: description of the endoscope dynamics for single-input multiple-output (SISO) system by transfer function, simulations of the adjusted transfer function, experimental results of two PIDs gains for the response of a sinusoidal half wave function and endoscopy guide program with PID controller. Based on the presented results, it can be concluded that the proposed method successfully operated endoscope control.