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4. Integrated Capacitance Sensing for Miniature Artificial Muscle Actuators.

Author

Legrand, Julie, Loenders, Bart, Vos, Alexander, Schoevaerdts, Laurent, and Vander Poorten, Emmanuel

Abstract

The use of McKibben pneumatic artificial muscles in surgical instruments is increasing due to their light weight, miniaturization potential, compliance and large actuation force. However, precise position and force control is still challenging due to the intrinsic muscle hysteresis. The present work proposes an easy-to-make integrated capacitance sensor for miniature artificial muscles by replacing two strands of the muscle braid with two conductive wires. By measuring the capacitance at high excitation frequency between both wires, the length of the muscle can be deduced. This new integrated sensor still allows the miniaturization of McKibben muscles. The miniature muscle with integrated capacitance sensing only loses 3% of its contraction length with regard to an original McKibben muscle. The sensor can predict the muscle length with a 0.31mm precision over 80% of the muscle total achievable contraction range in average. [ABSTRACT FROM AUTHOR]

Published
2020
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5. Macro-Micro Multi-Arm Robot for Single-Port Access Surgery

Author

A. Javaux, T. Vandebroek, Sebastien Ourselin, Tom Vercauteren, Julie Legrand, E. Vander Poorten, C. Gruijthuijsen, M. Ourak, Jan Deprest, Ourak, Mouloud, Gruijthuijsen, Caspar, Javaux, Allan, Legrand, Julie, Vercauteren, Tom, Ourselin, Sébastien, Deprest, Jan, Vander Poorten, Emmanuel, and Applied Mechanics

Subjects
medicine.medical_specialty, Computer science, Single port access, ComputerApplications_COMPUTERSINOTHERSYSTEMS, Bending, Spina bifida repair, Surgery, 03 medical and health sciences, 0302 clinical medicine, 030220 oncology & carcinogenesis, Invasive surgery, medicine, Robot, 030211 gastroenterology & hepatology, Fluidics, Macro, Decoupling (electronics)
Abstract

Minimally invasive surgery is now a well established field in surgery but continuous efforts are made to reduce invasiveness even further. This paper proposes a novel concept of small-diameter multi-arm robot for SinglePort Access Surgery. The concept introduces a combination of backbone and actuation principles in a macro-micro fashion to achieve an excellent decoupling of the triangulation platform (macro) and of the end-effectors (micro). Concentric tube robots are used for the triangulation platform, while compliant fluidic-actuated bending segments are used as end-effectors. The fluidic actuation is advantageous as it minimally interferes with the triangulation platform. The triangulation platform on the other hand provides a stable base for the end-effectors such that large distal actuation bandwidth can be achieved. A specific embodiment for Spina Bifida repair is developed and proposed. The surgical and technical requirements as well as the mechanical design are presented in details. A first prototype is built and characterization experiments are conducted to evaluate its performance. ispartof: pages:425-432 ispartof: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pages:425-432 ispartof: IEEE/RSJ International Conference on Intelligent Robots and Systems location:Macao, China date:3 Nov - 8 Nov 2019 status: Published online

Published
2019

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