Developments and Control of Biocompatible Conducting Polymer for Intracorporeal Continuum Robots.
Fiche publication
Date publication
avril 2018
Journal
Annals of biomedical engineering
Auteurs
Membres identifiés du Cancéropôle Est :
Pr ANDREFF Nicolas
Tous les auteurs :
Chikhaoui MT, Benouhiba A, Rougeot P, Rabenorosoa K, Ouisse M, Andreff N
Lien Pubmed
Résumé
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.
Mots clés
Conducting polymers, Continuum robots, Medical robotics, Micro-actuators, Position control
Référence
Ann Biomed Eng. 2018 Apr 30;: