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Development of a soft robotics diaphragm to simulate respiratory motion

Dorp, J. van (2019) Development of a soft robotics diaphragm to simulate respiratory motion.

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Abstract:The respiratory-induced motion of the liver introduces challenges in the medical field. This motion makes it difficult to do needle insertions at the right position and to aim the radiation beam at for example a tumour in the liver. Nowadays MRI is increasingly used for guidance during the aforementioned procedures, because it gives improved contrast on soft tissues and can therefore aid the navigation of the needle or radiation beam. In this project a device is made that can simulate this respiratory-induced motion of the liver. This is done with the purpose that other robotic systems can be tested on it and that clinicians can practice procedures on the device. The device is made such that it is MR compatible and can fit inside an MRI machine. For the design of the device close attention is payed to the human diaphragm. This resulted in a soft robotics diaphragm incorporating two different types of actuators. With these actuators it is able to simulate motion comparable to those of the human diaphragm. These actuators have first been designed and characterized. After that they have been implemented in the diaphragm, which has again been characterized. Next to the diaphragm a liver phantom and a stand to support the diaphragm have been designed. Based on the characterization of the diaphragm a model has been made that can predict the behaviour of the diaphragm. Also a controller has been made that can set different motion profiles for the diaphragm. The main focus has been simulating AP and SI motion. For both it is able to generate a motion within a realistic range and speed.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
Link to this item:http://purl.utwente.nl/essays/78278
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