NDLI: Fluidic actuation for intra-operative in situ imaging

Content Provider	IEEE Xplore Digital Library
Author	Devreker, A. Rosa, B. Desjardins, A. Alles, E.J. Garcia-Peraza, L.C. Maneas, E. Stoyanov, D. David, A.L. Vercauteren, T. Deprest, J. Ourselin, S. Reynaerts, D. Vander Poorten, E.
Copyright Year	2015
Description	Author affiliation: UCL Inst. for Women's Health, Univ. Coll. London, London, UK (David, A.L.) \|\| Dept. of Mech. Eng., KU Leuven, Leuven, Belgium (Devreker, A.; Rosa, B.; Reynaerts, D.; Vander Poorten, E.) \|\| Univ. Hosp. Leuven, Leuven, Belgium (Deprest, J.) \|\| Dept. of Med. Phys. & Biomed. Eng., Univ. Coll. London, London, UK (Desjardins, A.; Alles, E.J.; Garcia-Peraza, L.C.; Maneas, E.; Stoyanov, D.; Vercauteren, T.; Ourselin, S.)
Abstract	A novel fluidic actuation system has been developed for in situ imaging of anatomic tissues. The actuator consists of a micromachined superelastic tool guide driven by a pair of pneumatic artificial muscles. Two additional working channels allow easy interchange of instruments or sensing equipment. This paper describes the design and construction of the actuation system. Experimental results are also reported indicating a bending repeatability of 0.1 degrees and an operational bandwidth exceeding 8Hz. To show-case the performance of the device, the actuator was loaded with an all-optical ultrasound imaging probe. First scanned images of human placental tissue surface using an all-optical ultrasound probe are presented. While a model has been developed to estimate the probe position in space as function of the input pressure, in future work, this model will be complemented with additional sensor measurements of the bending probe taking into account the hysteretic behaviour of both muscles and nitinol structure.
Starting Page	1415
Ending Page	1421
File Size	4863130
Page Count	7
File Format	PDF
e-ISBN	9781479999941
DOI	10.1109/IROS.2015.7353553
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-28
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Muscles Probes Bandwidth Imaging Position measurement
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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