An IPMC actuated robotic surgery end effector with embedded force sensing

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dc.contributor.advisor Aw, K en
dc.contributor.author Fu, Lixue en
dc.date.accessioned 2013-12-01T21:41:29Z en
dc.date.issued 2013 en
dc.identifier.uri http://hdl.handle.net/2292/21185 en
dc.description Full text is available to authenticated members of The University of Auckland only. en
dc.description.abstract 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. An inherently force compliant and back-drivable properties of polymers, Ionic Polymer-metal Composite (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 proposes and demonstrates the design of a single degree of freedom (1DOF) robotic surgical instrument with one skeleton-joint mechanism actuated by IPMC with an embedded strain gauge as a feedback unit, and controlled by a gain-schedule PI controller. With the simplicity of the system it was proven to be able to cut to the desired controlled force (up to 8 gf cutting force) and hence depth. en
dc.publisher ResearchSpace@Auckland en
dc.relation.ispartof Masters Thesis - University of Auckland en
dc.rights Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. en
dc.rights Restricted Item. Available to authenticated members of The University of Auckland. en
dc.rights.uri https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm en
dc.rights.uri http://creativecommons.org/licenses/by-sa/3.0/nz/ en
dc.title An IPMC actuated robotic surgery end effector with embedded force sensing en
dc.type Thesis en
thesis.degree.grantor The University of Auckland en
thesis.degree.level Masters en
dc.rights.holder Copyright: The Author en
pubs.elements-id 413317 en
pubs.record-created-at-source-date 2013-12-02 en


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http://creativecommons.org/licenses/by-sa/3.0/nz/ Except where otherwise noted, this item's license is described as http://creativecommons.org/licenses/by-sa/3.0/nz/

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