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A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control

A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control
A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control
Ionic polymer metal composites (IPMCs) are soft electroactive polymers that have recently gained considerable attention in biomedical engineering as actuators and sensors. This study focuses on modeling, design and control of a cylindrical IPMC actuator with sectored electrodes. The cylindrical IPMC allows for multi-degree of freedom motion and accurate control of the tip location that can be utilized in biomedical active catheter devices. A three-dimensional finite element model is constructed to describe the physics of cylindrical IPMC actuation. The model is implemented to conduct optimization studies that provide conceptual designs that can maximize deflection, force output, and twisting actuation. Also, a cylindrical tube-shaped IPMC is designed and fabricated. This type of IPMC offers the ability to embed a specific tool and accurately control the tool tip location, which is critical in catheter procedures. To effectively utilize the tube-type IPMC, a closed-loop control system is created based on the electromechanical model and tested in different actuation settings. To improve functionality and the user interface the control system is designed to work on a laptop touchpad.
0964-1726
1-13
Ruiz, Siul
d79b3b82-7c0d-47cc-9616-11d29e6a41bd
Mead, Benjamin
03b97da4-3cbb-4987-a398-a8c21f2cf110
Palmre, Viljar
47b5ce46-8855-4c4d-9753-025d0a18cea2
Kim, Kwang J
531fff82-00bb-4023-a8f7-a8c9ea1bf490
Yim, Woosoon
f18c4b1d-3ba5-4c15-9b92-68fcdaebf22e
Ruiz, Siul
d79b3b82-7c0d-47cc-9616-11d29e6a41bd
Mead, Benjamin
03b97da4-3cbb-4987-a398-a8c21f2cf110
Palmre, Viljar
47b5ce46-8855-4c4d-9753-025d0a18cea2
Kim, Kwang J
531fff82-00bb-4023-a8f7-a8c9ea1bf490
Yim, Woosoon
f18c4b1d-3ba5-4c15-9b92-68fcdaebf22e

Ruiz, Siul, Mead, Benjamin, Palmre, Viljar, Kim, Kwang J and Yim, Woosoon (2015) A cylindrical ionic polymer-metal composite-based robotic catheter platform: modeling, design and control. Smart Materials and Structures, 24 (1), 1-13, [015007]. (doi:10.1088/0964-1726/24/1/015007).

Record type: Article

Abstract

Ionic polymer metal composites (IPMCs) are soft electroactive polymers that have recently gained considerable attention in biomedical engineering as actuators and sensors. This study focuses on modeling, design and control of a cylindrical IPMC actuator with sectored electrodes. The cylindrical IPMC allows for multi-degree of freedom motion and accurate control of the tip location that can be utilized in biomedical active catheter devices. A three-dimensional finite element model is constructed to describe the physics of cylindrical IPMC actuation. The model is implemented to conduct optimization studies that provide conceptual designs that can maximize deflection, force output, and twisting actuation. Also, a cylindrical tube-shaped IPMC is designed and fabricated. This type of IPMC offers the ability to embed a specific tool and accurately control the tool tip location, which is critical in catheter procedures. To effectively utilize the tube-type IPMC, a closed-loop control system is created based on the electromechanical model and tested in different actuation settings. To improve functionality and the user interface the control system is designed to work on a laptop touchpad.

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More information

e-pub ahead of print date: 18 November 2014
Published date: 1 January 2015

Identifiers

Local EPrints ID: 434284
URI: http://eprints.soton.ac.uk/id/eprint/434284
ISSN: 0964-1726
PURE UUID: 151f5413-cec5-420e-a55d-476765f07a50

Catalogue record

Date deposited: 18 Sep 2019 16:30
Last modified: 16 Mar 2024 04:07

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Contributors

Author: Siul Ruiz
Author: Benjamin Mead
Author: Viljar Palmre
Author: Kwang J Kim
Author: Woosoon Yim

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