Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots.

Abstract:

:Dexterity of robots is highly required when it comes to integration for medical applications. Major efforts have been conducted to increase the dexterity at the distal parts of medical robots. This paper reports on developments toward integrating biocompatible conducting polymers (CP) into inherently dexterous concentric tube robot paradigm. In the form of tri-layer thin structures, CP micro-actuators produce high strains while requiring less than 1 V for actuation. Fabrication, characterization, and first integrations of such micro-actuators are presented. The integration is validated in a preliminary telescopic soft robot prototype with qualitative and quantitative performance assessment of accurate position control for trajectory tracking scenarios. Further, CP micro-actuators are integrated to a laser steering system in a closed-loop control scheme with displacements up to 5 mm. Our first developments aim toward intracorporeal medical robotics, with miniaturized actuators to be embedded into continuum robots.

journal_name

Ann Biomed Eng

authors

Chikhaoui MT,Benouhiba A,Rougeot P,Rabenorosoa K,Ouisse M,Andreff N

doi

10.1007/s10439-018-2038-2

subject

Has Abstract

pub_date

2018-10-01 00:00:00

pages

1511-1521

issue

10

eissn

0090-6964

issn

1573-9686

pii

10.1007/s10439-018-2038-2

journal_volume

46

pub_type

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