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dc.contributor.author
Kumar, Nitish
dc.contributor.author
Wirekoh, Jackson
dc.contributor.author
Saba, Samir
dc.contributor.author
Riviere, Cameron N.
dc.contributor.author
Park, Yong-Lae
dc.date.accessioned
2021-03-05T09:19:58Z
dc.date.available
2020-05-21T02:32:11Z
dc.date.available
2020-05-22T13:19:12Z
dc.date.available
2021-03-05T09:19:58Z
dc.date.issued
2021-02-15
dc.identifier.issn
2169-5172
dc.identifier.issn
2169-5180
dc.identifier.other
10.1089/soro.2019.0011
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/416192
dc.description.abstract
Recently, there has been active research in finding robotized solutions for the treatment of atrial fibrillation (AF) by augmenting catheter systems through the integration of force sensors at the tip. However, limited research has been aimed at providing automatic force control by also integrating actuation of the catheter tip, which can significantly enhance safety in such procedures. This article solves the demanding challenge of miniaturizing both actuation and sensing for integration into flexible catheters. Fabrication strategies are presented for a series of novel soft thick-walled cylindrical actuators, with embedded sensing using eutectic gallium–indium. The functional catheter tips have a diameter in the range of 2.6–3.6 mm and can both generate and detect forces in the range of < 0.4 N, with a bandwidth of 1–2 Hz. The deformation modeling of thick-walled cylinders with fiber reinforcement is presented in the article. An experimental setup developed for static and dynamic characterization of these units is presented. The prototyped units were validated with respect to the design specifications. The preliminary force control results indicate that these units can be used in tracking and control of contact force, which has the potential to make AF procedures much safer and more accurate.
en_US
dc.language.iso
en
en_US
dc.publisher
Mary Ann Liebert
en_US
dc.subject
Medical robotics
en_US
dc.subject
Soft actuators
en_US
dc.subject
Soft sensors
en_US
dc.subject
Force control
en_US
dc.subject
Cardiac ablation
en_US
dc.subject
Catheters
en_US
dc.title
Soft Miniaturized Actuation and Sensing Units for Dynamic Force Control of Cardiac Ablation Catheters
en_US
dc.type
Journal Article
dc.date.published
2020-05-11
ethz.journal.title
Soft Robotics
ethz.journal.volume
8
en_US
ethz.journal.issue
1
en_US
ethz.journal.abbreviated
Soft robotics
ethz.pages.start
59
en_US
ethz.pages.end
70
en_US
ethz.identifier.wos
ethz.identifier.scopus
ethz.publication.place
New Rochelle, NY
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2020-05-21T02:32:23Z
ethz.source
WOS
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2021-03-05T09:20:13Z
ethz.rosetta.lastUpdated
2021-03-05T09:20:13Z
ethz.rosetta.versionExported
true
ethz.COinS
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