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.
In:
Proceedings of 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 1415-1421).
IEEE: Hamburg, Germany.
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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: | Proceedings paper |
|---|---|
| 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 |
| DOI: | 10.1109/IROS.2015.7353553 |
| Publisher version: | https://doi.org/10.1109/IROS.2015.7353553 |
| 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 > School of Life and Medical 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 |
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