UCL Discovery
UCL home » Library Services » Electronic resources » UCL Discovery

Fluidic Actuation for Intra-operative In Situ Imaging

Devrecker, A; Rosa, B; Desjardins, A; Alles, E; Garcia-Peraza Herrera, L; Maneas, E; Stoyanov, D; ... Vander Poorten, E; + view all (2015) Fluidic Actuation for Intra-operative In Situ Imaging. Presented at: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg. (In press). Green open access

[img]
Preview
Text
IROS15_1499_FI-2.pdf

Download (4MB) | Preview

Abstract

A novel fluidic actuation system has been developed for in situ imaging of anatomic tissues. The actuator consists of a micromachined superelastic tool guide driven by a pair of pneumatic artificial muscles. Two additional working channels allow easy interchange of instruments or sensing equipment. This paper describes the design and construction of the actuation system. Experimental results are also reported indicating a bending repeatability of 0.1 degrees and an operational bandwidth exceeding 8Hz. To show-case the performance of the device, the actuator was loaded with an all-optical ultrasound imaging probe. First scanned images of human placental tissue surface using an all-optical ultrasound probe are presented. While a model has been developed to estimate the probe position in space as function of the input pressure, in future work, this model will be complemented with additional sensor measurements of the bending probe taking into account the hysteretic behaviour of both muscles and nitinol structure.

Type: Conference item (UNSPECIFIED)
Title: Fluidic Actuation for Intra-operative In Situ Imaging
Event: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Location: Hamburg
Dates: 28 September 2015 - 02 October 2015
Open access status: An open access version is available from UCL Discovery
Language: English
Additional information: © © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Population Health Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Population Health Sciences > UCL EGA Institute for Womens Health
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Population Health Sciences > UCL EGA Institute for Womens Health > Maternal and Fetal Medicine
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1471791
Downloads since deposit
68Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item