Finite element analysis and design optimization of a pneumatically actuating silicone module for robotic surgery applications
- Submitting institution
-
Middlesex University
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 977
- Type
- D - Journal article
- DOI
-
10.1089/soro.2014.0016
- Title of journal
- Soft Robotics
- Article number
- -
- First page
- 255
- Volume
- 1
- Issue
- 4
- ISSN
- 2169-5172
- Open access status
- Out of scope for open access requirements
- Month of publication
- October
- Year of publication
- 2014
- URL
-
http://eprints.mdx.ac.uk/16304/
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
7
- Research group(s)
-
-
- Citation count
- 74
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This paper optimizes the design of a pneumatically actuated silicone module, resembling soft tissue, with three pneumatic chambers. The aim was to use a soft robot arm for robotic surgery applications. This is significant because the arm has less ballooning than the standard optimized module making it an improvement for surgical applications. This was achieved by the application of Finite Element Analysis and design optimization, yielding the least ballooning for pneumatic chambers. Then an internal dragonskin structure was added below the module surface to enable and guide the bending under one-channel pneumatic actuation while further containing the ballooning effect.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -