Additively Manufactured Flexible Fluidic Actuators For Precision Control in Surgical Applications

摘要

Previously, the Milwaukee School of Engineering (MSOE) demonstrated a dexterous tele-operational robotic system where actuators, joints, and linkages were fabricated simultaneously using Selective Laser Sintered Nylon 12. Primary motivation for this research was to conceive novel fluid power actuators that were inherently safe, compact, and Magnetic Resonance Imaging (MRI) compatible for surgery and rehabilitation. Although the concept of fabricating MRI compatible fluid power devices was demonstrated, further proof of precision control was needed. The design and implementation of additively manufactured flexible fluidic actuators (AMFFA) for precision control, best practices, and the comparison of these actuators with other actuation technologies are presented.