Details
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE 7th International Conference on Soft Robotics |
| Subtitle of host publication | RoboSoft |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 983-989 |
| Number of pages | 7 |
| ISBN (electronic) | 9798350381818 |
| ISBN (print) | 979-8-3503-8182-5 |
| Publication status | Published - 2024 |
| Event | 7th IEEE International Conference on Soft Robotics, RoboSoft 2024 - San Diego, United States Duration: 14 Apr 2024 → 17 Apr 2024 |
Abstract
Despite its multiple advantages over classical procedures, interventional magnetic resonance imaging (iMRI) remains a rarely used method in percutaneous tumor biobsy and ablation of the liver. Mainly due to the difficult and special environment in the MRI scanner, automation of the process through the use of robots remains a challenge. Soft robotic systems, made of soft materials and actuated by pneumatic pressure, offer a way to assist interventionalists in their daily work in iMRI. In this paper, we present a soft robotic actuator that leverages switchable interlocking strain-limiting structures for bending and position locking. Comb-like structures in separate chambers are used to create the actuator's bending motion through force-transmitting form-closure.
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Materials Science(all)
- Materials Science (miscellaneous)
- Mathematics(all)
- Control and Optimization
- Mathematics(all)
- Modelling and Simulation
- Physics and Astronomy(all)
- Instrumentation
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2024 IEEE 7th International Conference on Soft Robotics: RoboSoft . Institute of Electrical and Electronics Engineers Inc., 2024. p. 983-989.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Tumor Biopsy and Ablation in MRI
AU - Peters, Jan
AU - Licher, Johann
AU - Hensen, Bennet
AU - Wacker, Frank
AU - Raatz, Annika
N1 - Publisher Copyright: © 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Despite its multiple advantages over classical procedures, interventional magnetic resonance imaging (iMRI) remains a rarely used method in percutaneous tumor biobsy and ablation of the liver. Mainly due to the difficult and special environment in the MRI scanner, automation of the process through the use of robots remains a challenge. Soft robotic systems, made of soft materials and actuated by pneumatic pressure, offer a way to assist interventionalists in their daily work in iMRI. In this paper, we present a soft robotic actuator that leverages switchable interlocking strain-limiting structures for bending and position locking. Comb-like structures in separate chambers are used to create the actuator's bending motion through force-transmitting form-closure.
AB - Despite its multiple advantages over classical procedures, interventional magnetic resonance imaging (iMRI) remains a rarely used method in percutaneous tumor biobsy and ablation of the liver. Mainly due to the difficult and special environment in the MRI scanner, automation of the process through the use of robots remains a challenge. Soft robotic systems, made of soft materials and actuated by pneumatic pressure, offer a way to assist interventionalists in their daily work in iMRI. In this paper, we present a soft robotic actuator that leverages switchable interlocking strain-limiting structures for bending and position locking. Comb-like structures in separate chambers are used to create the actuator's bending motion through force-transmitting form-closure.
UR - http://www.scopus.com/inward/record.url?scp=85193837544&partnerID=8YFLogxK
U2 - 10.1109/RoboSoft60065.2024.10521966
DO - 10.1109/RoboSoft60065.2024.10521966
M3 - Conference contribution
AN - SCOPUS:85193837544
SN - 979-8-3503-8182-5
SP - 983
EP - 989
BT - 2024 IEEE 7th International Conference on Soft Robotics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Soft Robotics, RoboSoft 2024
Y2 - 14 April 2024 through 17 April 2024
ER -