Development of pressure-driven micro active catheter using membrane micro emboss following excimer laser ablation (MeME-X) process

Ikeuchi, Masashi; Ikuta, Koji

doi:10.1109/robot.2009.5152869

Cited by 28 publications

(23 citation statements)

References 6 publications

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“…2b or elastic rods to raise the rigidity of the robot to permit transmission of compressive forces as used by [54,63,75], • fluidic (pneumatic and hydraulic) actuators by [7,15,21,39,42,44], • Shape Memory Alloy (SMA) based actuators by [35,40,47,49], • Electro-Active Polymer (EAP) based actuators by [8,20,45,48,61], and • concentric tube robots depicted in Fig. 2c by [27,28,71,73].…”

Section: Continuum Robotsmentioning

confidence: 99%

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

Chikhaoui

Rabenorosoa

Andreff

2016

Mechanism and Machine Theory

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A B S T R A C TContinuum robots have shown astounding abilities to assist surgeons reaching confined spaces in the human body. Thus, accurate control of these manipulators, and particularly concentric tube robots, is required in order to achieve intracorporeal microrobotic interventions. We present hereby an improvement of this kinematic structure based on embedded soft micro-actuators. Two models for single and double direction curvature control are introduced. We demonstrate that kinematics are enhanced with respect to the standard approach in terms of holonomy, actuation redundancy and workspace covering. Further kinematic analysis enables the detection of singular configurations. The number of the end-effector pose occurrences that can be reached in a given volume (one cubic millimeter) are computed as well. Finally, the advantages of the novel structures are proven using performance indices.

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Section: Continuum Robotsmentioning

confidence: 99%

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

Chikhaoui

Rabenorosoa

Andreff

2016

Mechanism and Machine Theory

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“…A typical example of a soft robotic device requiring structuring of PDMS is flexible pneumatic bending actuators that are used to execute delicate tasks such as handling biological tissues that is impossible using traditional rigid robots 8,[17][18][19][20][21] . These actuators show a large bending deformation when pressurized and is used as a demonstrator in this paper.…”

Section: Introductionmentioning

confidence: 99%

SU8 etch mask for patterning PDMS and its application to flexible fluidic microactuators

et al. 2016

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Over the past few decades, polydimethylsiloxane (PDMS) has become the material of choice for a variety of microsystem applications, including microfluidics, imprint lithography, and soft microrobotics. For most of these applications, PDMS is processed by replication molding; however, new applications would greatly benefit from the ability to pattern PDMS films using lithography and etching. Metal hardmasks, in conjunction with reactive ion etching (RIE), have been reported as a method for patterning PDMS; however, this approach suffers from a high surface roughness because of metal redeposition and limited etch thickness due to poor etch selectivity. We found that a combination of LOR and SU8 photoresists enables the patterning of thick PDMS layers by RIE without redeposition problems. We demonstrate the ability to etch 1.5-μm pillars in PDMS with a selectivity of 3.4. Furthermore, we use this process to lithographically process flexible fluidic microactuators without any manual transfer or cutting step. The actuator achieves a bidirectional rotation of 50°at a pressure of 200 kPa. This process provides a unique opportunity to scale down these actuators as well as other PDMS-based devices.

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“…[17][18][19] Continuum manipulators usually have a flexible metal backbone [20][21][22] or can be comprised of soft polymer materials. 8,12,13,15 The actuation of continuum actuators generally induces bending into circular arcs, which is reflected in most kinematic models that presume constant curvature along the actuator. [23][24][25] However, the pliable nature of continuum manipulators implies that external obstacles, disturbances, and payloads can induce significant deformation.…”

Section: Introductionmentioning

confidence: 99%

Modeling a Hyperflexible Planar Bending Actuator as an Inextensible Euler–Bernoulli Beam for Use in Flexible Robots

2015

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We present a fast and simple predictive shapeykinematic model for a hyperflexible actuator, capable of bending 180°. The quasistatic model is based on the Euler-Bernoulli beam model, with a simple modification introduced to include material hysteresis, improving the performance significantly, by up to *15% reduction in positional error. We used the Bi-Bellows actuator and report prediction errors in three different scenarios. The model is implemented with an iterative solver able to run at 140Hz, while the Bi-Bellows has a typical frequency of *2Hz.

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Development of pressure-driven micro active catheter using membrane micro emboss following excimer laser ablation (MeME-X) process

Cited by 28 publications

References 6 publications

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

SU8 etch mask for patterning PDMS and its application to flexible fluidic microactuators

Modeling a Hyperflexible Planar Bending Actuator as an Inextensible Euler–Bernoulli Beam for Use in Flexible Robots

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