Actively shielded capacitive proximity sensor for endoscopy

Abstract

Flexible endoscopes are widely used for diagnostic and therapeutic procedures on internal organs and tissue surfaces. Accurate positioning of the endoscope tip is critical for obtaining clear images and avoiding tissue damage. Proximity sensors can provide information about the distance to the surrounding tissue, which can help align the endoscope tip and navigate along curved paths. This paper presents a method of proximity measurement using capacitive sensors with active shielding to determine the radial distance between an endoscope and surrounding tissue. The capacitive sensor consists of four copper foil electrodes attached to a 9.5 mm diameter ring. Two different active shielding designs were investigated and compared to reduce the sensing angle and minimize lateral effects. Capacitance was measured as a function of distance using a linear stage. A MATLAB script controlled the linear stage and calculated the distance from the measured capacitance. The results showed that advanced active shielding could be useful to reduce the sensing angle (angular space where capacitance sensor detects capacitance changes.). This method provides a cost-effective solution for radial distance measurement in endoscopy, essential for improving diagnostic and therapeutic procedures.

Keywords

• capacitive sensors
• proximity measurement
• endoscope
• active shielding
• robotics