Journal: Science Advances
Article Title: Hybrid pneumatic-hydraulic actuation for MRI-guided robotic stereotactic neurointervention
doi: 10.1126/sciadv.ady3624
Figure Lengend Snippet: ( A ) Illustration of the concept of peristaltic motion driven by traveling waves. ( B ) Structure of the bioinspired soft actuator with 2-df (translation and rotation). ( C ) Schematic of one chamber of the soft actuator. The helix has a diameter of R + r , where φ indicates the helical angle, λ indicates the length of one period of the chamber, and n 1 to n 4 indicate the position of the secondary helixes. ( D ) Left: Two pairs of pneumatically driven chambers. Right: Pressure variations in the four outer (CW) chambers. Each chamber is driven by a sinusoidal curve, with phase differences of 90°. ( E ) Four C 2 1 × C 2 1 types of motion based on different traveling wave sequences: forward translation, backward translation, CW rotation, and CCW rotation. ( F and G ) FEA strain result for states 2 and 4 of (E), showing four time steps forming one complete cycle. ( H ) Decoupled translation test results. Forward_R and Forward_T indicate the rotation and the translation during the forward motion test, respectively. Backward_R and Backward _T indicate the rotation and the translation during the backward motion test, respectively. ( I ) Decoupled rotation test results. CW_R and CW_T indicate the rotation and the translation during the CW rotation test, respectively. CW_R and CW_T indicate the rotation and the translation during the CCW rotation test, respectively. ( J ) Results of the decoupled translational and rotational speed and the corresponding insertion force during translation in different chamber frequencies (0.5 to 3.3 Hz). ( K ) Locking force of the needle with helical locking. The graph shows the means ± SD of N = 4 measurements at each data point.
Article Snippet: To verify the design, we established an FEA model in Abaqus for the bioinspired soft actuator ( , figs. S10 to S12, and movie S3).
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