Design, Optimization, and Modeling of a Hydraulic Soft Robot for Chronic Total Occlusions
文献类型：期刊论文
| 作者 | Meng, Ling-Wu1,2; Xie, Xiao-Liang2 ; Zhou, Xiao-Hu2; Liu, Shi-Qi2; Hou, Zeng-Guang2
|
| 刊名 | BIOMIMETICS
 |
| 出版日期 | 2024-03-01 |
| 卷号 | 9期号:3页码:17 |
| 关键词 | CTO soft hydraulic robot structure optimization kinematic model fluid-structure interaction |
| DOI | 10.3390/biomimetics9030163 |
| 通讯作者 | Hou, Zeng-Guang(zengguang.hou@ia.ac.cn) |
| 英文摘要 | Chronic total occlusion (CTO) is one of the most severe and sophisticated vascular stenosis because of complete blockage, greater operation difficulty, and lower procedural success rate. This study proposes a hydraulic-driven soft robot imitating the earthworm's locomotion to assist doctors or operators in actively opening thrombi in coronary or peripheral artery vessels. Firstly, a three-actuator bionic soft robot is developed based on earthworms' physiological structure. The soft robot's locomotion gait inspired by the earthworm's mechanism is designed. Secondly, the influence of structure parameters on actuator deformation, stress, and strain is explored, which can help us determine the soft actuators' optimal structure parameters. Thirdly, the relationship between hydraulic pressure and actuator deformation is investigated by performing finite element analysis using the bidirectional fluid-structure interaction (FSI) method. The kinematic models of the soft actuators are established to provide a valuable reference for the soft actuators' motion control. |
| WOS关键词 | ENDOVASCULAR TREATMENT ; KINEMATICS ; CORONARY ; DRIVEN |
| 资助项目 | National Natural Science Foundation of China |
| WOS研究方向 | Engineering ; Materials Science |
| 语种 | 英语 |
| WOS记录号 | WOS:001191744100001 |
| 出版者 | MDPI |
| 资助机构 | National Natural Science Foundation of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/58062]  |
| 专题 | 多模态人工智能系统全国重点实验室_医疗机器人 |
| 通讯作者 | Hou, Zeng-Guang |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Meng, Ling-Wu,Xie, Xiao-Liang,Zhou, Xiao-Hu,et al. Design, Optimization, and Modeling of a Hydraulic Soft Robot for Chronic Total Occlusions[J]. BIOMIMETICS,2024,9(3):17. |
| APA | Meng, Ling-Wu,Xie, Xiao-Liang,Zhou, Xiao-Hu,Liu, Shi-Qi,&Hou, Zeng-Guang.(2024).Design, Optimization, and Modeling of a Hydraulic Soft Robot for Chronic Total Occlusions.BIOMIMETICS,9(3),17. |
| MLA | Meng, Ling-Wu,et al."Design, Optimization, and Modeling of a Hydraulic Soft Robot for Chronic Total Occlusions".BIOMIMETICS 9.3(2024):17. |
入库方式： OAI收割
来源：自动化研究所
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