Thorn, A., Afacan, D., Ingham, E. et al. (3 more authors) (2017) Low-power and low-cost stiffness-variable oesophageal tissue phantom. In: Towards Autonomous Robotic Systems. Towards Autonomous Robotic Systems (TAROS) Conference 2017, 19-21 Jul 2017, Guildford, UK. Lecture Notes in Computer Science , 10454 . Springer , pp. 351-362. ISBN 978-3-319-64106-5
Abstract
Biological tissues are complex structures with changing mechanical properties depending on physiological or pathological factors. Thus they are extendible under normal conditions or stiff if they are subject to an inflammatory reaction. We design and fabricate a low-power and low-cost stiffness-variable tissue phantom (SVTP) that can extend up to 250% and contract up to 5.4% at 5 V (1.4 W), mimicking properties of biological tissues. We investigated the mechanical characteristics of SVTP in simulation and experiment. We also demonstrate its potential by building an oesophagus phantom for testing appropriate force controls in a robotic implant that is meant to manipulate biological oesophageal tissues with changing stiffness in vivo. The entire platform permits efficient testing of robotic implants in the context of anomalies such as long gap esophageal atresia, and could potentially serve as a replacement for live animal tissues.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 Springer International Publishing AG. This is an author produced version of a paper subsequently published in Lecture Notes in Computer Science. Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 15 Sep 2017 13:28 |
Last Modified: | 19 Dec 2022 13:36 |
Published Version: | https://doi.org/10.1007/978-3-319-64107-2 |
Status: | Published |
Publisher: | Springer |
Series Name: | Lecture Notes in Computer Science |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-319-64107-2 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:120936 |