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Magnetically steerable manipulator with variable stiffness using graphene polylactic acid for minimally invasive surgery

Title
Magnetically steerable manipulator with variable stiffness using graphene polylactic acid for minimally invasive surgery
Authors
Park, JoowonLee, HyoryongKee, HyeonwooPark, Sukho
DGIST Authors
Park, Joowon; Lee, Hyoryong; Kee, Hyeonwoo; Park, Sukho
Issue Date
2020-07
Citation
Sensors and Actuators A: Physical, 309, 112032
Type
Article
Article Type
Article
Author Keywords
Graphene polylactic acidVariable stiffnessMinimally invasive surgeryMagnetic steeringManipulatorThermal phase transition
Keywords
DESIGN
ISSN
0924-4247
Abstract
For manipulators used in minimally invasive surgery (MIS), variable stiffness and miniaturization are very important characteristics. However, previously proposed mechanisms are difficult to miniaturize due to large and complex structures; thus, they do not achieve variable stiffness characteristics, consequently being difficult to be applied to manipulators used in MIS. In this study, we proposed a manipulator that can be magnetically steered by a permanent magnet at the end and can have variable stiffness characteristics by a phase transition of graphene polylactic acid (GPLA). Thus, the proposed manipulator is easy to fabricate and miniaturize as a magnetic steering MIS manipulator. To verify the magnetic steering and variable stiffness performances of the proposed manipulator, various basic experiments and analysis simulations were executed. In addition, by applying the discriminating properties of the proposed manipulator (magnetic steering, variable stiffness), we can construct a double-segment manipulator with variable stiffness and verify its implementation in postures which are difficult to achieve in other MIS manipulators. © 2020 Elsevier B.V.
URI
http://hdl.handle.net/20.500.11750/11872
DOI
10.1016/j.sna.2020.112032
Publisher
Elsevier BV
Related Researcher
  • Author Park, Sukho Multiscale Biomedical Robotics Laboratory
  • Research Interests Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringMultiscale Biomedical Robotics Laboratory1. Journal Articles


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