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The improvement of the design and control of a soft robotic phantom that simulates the respiratory motion in the human liver

Overwijk, C.R. (2018) The improvement of the design and control of a soft robotic phantom that simulates the respiratory motion in the human liver.

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Abstract:The focus of this thesis is the improvement of the design and control of a soft robotic phantom that simulates the respiratory motion in the human liver. The robotic phantom is meant to be used for testing and perfecting the needle insertion procedures. In the first section of this paper background information is given, about the movement of the liver during the respiratory cycle. An MR-compatible simulator was previously developed in RaM which needed to be improved. This results in the research question and the aim of this report. The research question is: how can the current phantom be improved to represent the liver more realistically during the respiratory motion? The aim of this study was to improve the soft robotic phantom to be a realist representation of the patient’s liver and to better simulate respiratory motion of the liver. A control system needs to be developed for the simulator, enabling different respiratory motion simulation. The improvement in the design has been achieved by adding the liver, a skin, a diaphragm and new actuators. While the improvement of the movement and control has been achieved by using an electronic pressure regulator and controlling the pressure with programming an arduino unit. A new actuator was utilized to achieve more realistic respiratory displacement. With the improvements made in this study, a more realistic respiratory motion with a better representation of patient’s liver is achieved
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/80961
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