University of Twente Student Theses
Designing a soft sensory actuator for minimally invasive surgery with the focus on sensor behaviour
Veuger, E.A. (2024) Designing a soft sensory actuator for minimally invasive surgery with the focus on sensor behaviour.
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| Abstract: | Minimal invasive surgeries(MIS) using an endoscope are becoming more popular compared to their traditional open surgeries. A disadvantage of MIS is a limited working area, because of their rigidness. The field of soft robotics focuses on tackling this hurdle. Composing the end of the endoscope of soft material will increase the flexibility of the endoscope. Resulting in an increased reaching capacity of the endoscope. In this study, the actuator is fabricated of Ecoflex 00-10. Incorporating three fiber reinforced inflatable balloons into the actuator allows for controllable movement. Subsequently, adding sensors allows for the measurement of these movements. Two consecutive modules are placed in series to create an S-shape.\\ The results compare a conductive rubber and a water with salt sensor. From the tests can be concluded that conductive rubber gave the most stable results over time. Accordingly, this is used as a sensor in the modules, every module has three sensors. To confirm the usability, different parameters are evaluated. The resistance, pressure, and radius of the sensor provide this information. The radius is measured using computer-vision technology. The results showed an increased pressure leads to a resistance change. Moreover, as the radius of the actuator was found to decrease, the actuator would be deformed. |
| Item Type: | Essay (Bachelor) |
| Faculty: | TNW: Science and Technology |
| Programme: | Biomedical Technology BSc (56226) |
| Link to this item: | https://purl.utwente.nl/essays/98411 |
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