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Computational modelling of soft actuators of an MR-compatible robotic phantom that mimics the respiratory motion of the human liver

Mathur, N. (2018) Computational modelling of soft actuators of an MR-compatible robotic phantom that mimics the respiratory motion of the human liver.

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Abstract:Robotic advancements, such as needle insertion technology, enables precise treatment of intrahepatic tumors, however, difficulty arises in the accurate testing of these advancements in practice. In this study the functionality of an MR-compatible soft actuated robotic phantom, that simulates respiratory motion of a patient’s liver, was improved based on the Finite Element Analysis (FEA) of the soft actuators, optimizing their functionality and durability. Design parameters such as number of chambers, the angle between chamber walls and the material properties were varied. Moreover, certain materials used in either 3D printing or molding were also included in the simulation which indicates the process of fabrication. The pneumatic soft actuator optimized based on FEA, was subsequently fabricated and tested. Its optimal parameters are six chambers with an angle of 110± and fabricated via molding using Ecoflex™00-50. The results of the experiment revealed the improvements in the phantomwith the new actuator, as the improved actuator displaces 34 mm compared to the original 03 mm at a pressure of 0.01 bar. In conclusion, the functionality of the actuator increased drastically by decreasing the number of chambers, the angle between chamber walls and fabricating it with a material with relatively high Young’s modulus for better actuation and control of the robotic liver phantom. Acknowledgements
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/80958
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