CUED Publications database

Integrated high pressure microhydraulic actuation and control for surgical instruments

Moers, AJM and De Volder, MFL and Reynaerts, D (2012) Integrated high pressure microhydraulic actuation and control for surgical instruments. Biomedical Microdevices, 14. pp. 699-708. ISSN 1387-2176

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Abstract

To reduce the surgical trauma to the patient, minimally invasive surgery is gaining considerable importance since the eighties. More recently, robot assisted minimally invasive surgery was introduced to enhance the surgeon's performance in these procedures. This resulted in an intensive research on the design, fabrication and control of surgical robots over the last decades. A new development in the field of surgical tool manipulators is presented in this article: a flexible manipulator with distributed degrees of freedom powered by microhydraulic actuators. The tool consists of successive flexible segments, each with two bending degrees of freedom. To actuate these compliant segments, dedicated fluidic actuators are incorporated, together with compact hydraulic valves which control the actuator motion. Especially the development of microvalves for this application was challenging, and are the main focus of this paper. The valves distribute the hydraulic power from one common high pressure supply to a series of artificial muscle actuators. Tests show that the angular stroke of the each segment of this medical instrument is 90°. © 2012 Springer Science+Business Media, LLC.

Item Type: Article
Uncontrolled Keywords: High pressure microvalves Hydraulic microactuator Minimally invasive surgery Surgical manipulator
Subjects: UNSPECIFIED
Divisions: Div E > Production Processes
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:42
Last Modified: 08 Dec 2014 02:21
DOI: 10.1007/s10544-012-9650-y