Chorda Dorsalis System as a Paragon for Locally Actuated Compliant Bending Beams to Improve the Performance of TEE Probes DOI Open Access
Mostafa Sayahkarajy, Hartmut Witte, Ahmad Athif Mohd Faudzi

и другие.

Опубликована: Фев. 14, 2024

Continuum robots play the role of end-effector in various surgical and endoscopic devices. The may be categorized as rigid or soft continuum (SCRs). While SCRs have proven advantages such safety compliance, more research development are required to enhance their capability for specific medical scenarios. This aims at designing a robot considering concepts geometric kinematic similarities. chosen application is semi-invasive known Transesophageal Echocardiography (TEE), but methodology can implemented other similar applications. Since established carrier construction make use principles we find well embodied vertebral spines, paragon solution phylogenetic precursor spine, Chorda dorsalis. feasibility fabrication device derived from that within robotics laboratory was shown empirically by producing three-segment pneumatic SCR. model proposed based on method transformation matrices, an algorithm self-organizing map (SOM) applied realize similarity. simulation results indicate acting open-loop controller forces tip follow desired path which this case probe. It concluded provides surrogate succeed traditional counterpart owing size, workspace, kinematics.

Язык: Английский

Chorda Dorsalis System as a Paragon for Soft Medical Robots to Design Echocardiography Probes with a New SOM-Based Steering Control DOI Creative Commons
Mostafa Sayahkarajy, Hartmut Witte, Ahmad Athif Mohd Faudzi

и другие.

Biomimetics, Год журнала: 2024, Номер 9(4), С. 199 - 199

Опубликована: Март 27, 2024

Continuum robots play the role of end effectors in various surgical and endoscopic devices. While soft continuum (SCRs) have proven advantages such as safety compliance, more research development are required to enhance their capability for specific medical scenarios. This aims at designing a robot, considering concepts geometric kinematic similarities. The chosen application is semi-invasive known transesophageal echocardiography (TEE). feasibility fabrication device derived from Chorda dorsalis paragon was shown empirically by producing three-segment pneumatic SCR. main novelties include bioinspired design, modeling, navigation control strategy presented novel algorithm maintain similarity between robot rigid counterpart. model based on method transformation matrices, an self-organizing map (SOM) network developed applied realize similarity. simulation results indicate that forces tip follow path probe within prescribed distance error (5 mm). solution provides can surrogate succeed traditional counterpart owing size, workspace, kinematics.

Язык: Английский

Процитировано

2
A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots DOI
Mostafa Sayahkarajy, Hartmut Witte

Biomedical Engineering / Biomedizinische Technik, Год журнала: 2024, Номер 69(6), С. 609 - 621

Опубликована: Июль 19, 2024

Abstract Objectives This research investigates designing a continuum soft robot and proposing kinematic matching control to enable the perform specified medical task, which in this paper is transesophageal echocardiography (TEE). Methods A multi-chamber was designed fabricated based on molding of separate layers. The method transformation matrices used develop models, using Jacobian proposed manipulate robot. Results prototype made multi-layer design. system contains three segments that can be actuated independently mimic active bending part respective probe. Kinematic models were developed. Negative pressure (vacuum) as actuation input. An open-loop controller inspired by redundancy resolution technique make tip follow desired path, i.e. path rigid ultrasound Conclusions It concluded solution required task reachable points TEE cover workspace for maneuvering arbitrary trajectories.

Язык: Английский

Процитировано

1
Analysis of Robot–Environment Interaction Modes in Anguilliform Locomotion of a New Soft Eel Robot DOI Creative Commons
Mostafa Sayahkarajy, Hartmut Witte

Actuators, Год журнала: 2024, Номер 13(10), С. 406 - 406

Опубликована: Окт. 7, 2024

Bio-inspired robots with elongated anatomy, like eels, are studied to discover anguilliform swimming principles and improve the robots’ locomotion accordingly. Soft continuum replicate animal–environment physics better than noncompliant, rigid, multi-body eel robots. In this study, a slender soft robot was designed tested in an actual experiment still-water tank. The employs pneumatic muscles laterally connected flexible backbone activated rhythmic input. position of seven markers mounted on robot’s recorded using QualiSys® Tracking Manager (QTM) 1.6.0.1. system modeled as fully coupled fluid–solid interaction (FSI) COMSOL Multiphysics® 6.1. Further data postprocessing analysis were conducted, proposing new mode decomposition algorithm simulation data. Experiments show success velocity 28 mm/s at frequency 0.9 Hz. allowed modeling explanation fluctuation. Results disclose presence traveling waves related obtained by superposition two main modes. similarities results natural discussed. It is concluded that undulation ruled dynamic modes induced robot–environment interaction.

Язык: Английский

Процитировано

1
Chorda Dorsalis System as a Paragon for Locally Actuated Compliant Bending Beams to Improve the Performance of TEE Probes DOI Open Access
Mostafa Sayahkarajy, Hartmut Witte, Ahmad Athif Mohd Faudzi

и другие.

Опубликована: Фев. 14, 2024

Continuum robots play the role of end-effector in various surgical and endoscopic devices. The may be categorized as rigid or soft continuum (SCRs). While SCRs have proven advantages such safety compliance, more research development are required to enhance their capability for specific medical scenarios. This aims at designing a robot considering concepts geometric kinematic similarities. chosen application is semi-invasive known Transesophageal Echocardiography (TEE), but methodology can implemented other similar applications. Since established carrier construction make use principles we find well embodied vertebral spines, paragon solution phylogenetic precursor spine, Chorda dorsalis. feasibility fabrication device derived from that within robotics laboratory was shown empirically by producing three-segment pneumatic SCR. model proposed based on method transformation matrices, an algorithm self-organizing map (SOM) applied realize similarity. simulation results indicate acting open-loop controller forces tip follow desired path which this case probe. It concluded provides surrogate succeed traditional counterpart owing size, workspace, kinematics.

Язык: Английский

Процитировано

0