Early Developments of a Novel Smart Actuator Inspired by Nature
Early Developments of a Novel Smart Actuator Inspired by Nature
复制标题
受大自然启发的新型智能执行器的早期开发
DOI：
--
复制
发表时间：
2008
期刊：
影响因子：
--
通讯作者：
F. Baena
中科院分区：
文献类型：
--
作者：
L. Frasson;T. Parittotokkaporn;B. Davies;F. Baena
帝国理工学院目前的研究重点是开发一种用于微创手术（MIS）的新型神经外科探针，该探针可通过利用某些产卵黄蜂的独特设计来瞄准大脑深层病变。虽然传统的神经外科器械是刚性的，只能用于实现直线轨迹，但仿生设计将使连接任何入口点到大脑内任何目标的弯曲路径能够自动遵循。本文报告了早期可行性研究的成功结果，其中研究了新型执行器设计背后的两个关键概念：开发了一种受生物启发的机器人执行器，通过往复定制的各向异性表面纹理来演示有效的软组织遍历（即沿着软组织表面的运动），而不需要施加外力沿着表面推动组织。然后，制造了定制设计的具有仿生表面形貌的刚性探针，并在尸体猪脑上进行了测试，目的是表征由于与生物组织的摩擦和摩擦学相互作用而产生的插入和拔出力。
Current research at Imperial College focuses on the development of a novel neurosurgical probe for Minimally Invasive Surgery (MIS), which can be used to target deep lesions in the brain by exploiting the unique design of certain ovipositing wasps. While conventional neurosurgical instruments are rigid and can only be used to achieve straight-line trajectories, the biomimetic design will enable curved paths connecting any entry point to any target within the brain to be followed autonomously. This paper reports on the successful outcome of an early feasibility study, where two of the key concepts behind the novel actuator design are investigated: a biologically inspired robotic actuator was developed to demonstrate effective soft tissue traversal (i.e. motion along the surface of a soft tissue) by reciprocating custom-built anisotropic surface textures, without the need to apply an external force to push the tissue along the surface. Then, custom-designed rigid probes with bio-inspired surface topographies were fabricated and tested on cadaveric porcine brain with the aim to characterize the insertion and extraction forces due to friction and tribological interaction with biological tissue.