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Proceedings Paper

A force compliant surgical robotic tool with IPMC actuator and integrated sensing
Author(s): Lixue Fu; Andrew J. McDaid; Kean C. Aw
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Paper Abstract

A robotic surgical device, actuated by Ionic Polymer-metal Composite (IPMC), integrated with a strain gauge to achieve force control is proposed. Test results have proved the capabilities of this device to conduct surgical procedures. The recent growth of patient acceptance and demand for robotic aided surgery has stimulated the progress of research where in many applications the performance has been proven to surpass human surgeons. A new area which uses the inherently force compliant and back-drivable properties of polymers, IPMC in this case, has shown its potential to undertake precise surgical procedures in delicate environments of medical practice. This is because IPMCs have similar actuation characteristics to real biological systems ensuring the safety of the practice. Nevertheless, little has been done in developing IPMCs as a rotary joint actuators used as functional surgical devices. This research demonstrates the design of a single degree of freedom (1DOF) robotic surgical instrument with one joint mechanism actuated by IPMC with an embedded strain gauge as a feedback unit, and controlled by a scheduled gain PI controller. With the simplicity of the system it was proven to be able to cut to the desired controlled force and hence depth.

Paper Details

Date Published: 9 August 2013
PDF: 11 pages
Proc. SPIE 8793, Fourth International Conference on Smart Materials and Nanotechnology in Engineering, 87930E (9 August 2013); doi: 10.1117/12.2027724
Show Author Affiliations
Lixue Fu, The Univ. of Auckland (New Zealand)
Andrew J. McDaid, The Univ. of Auckland (New Zealand)
Kean C. Aw, The Univ. of Auckland (New Zealand)

Published in SPIE Proceedings Vol. 8793:
Fourth International Conference on Smart Materials and Nanotechnology in Engineering
Jayantha A. Epaarachchi; Alan Kin-tak Lau; Jinsong Leng, Editor(s)

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