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Concept design of a novel Ferrofluid based feedback system for a primary system of a versatile endovascular assisting robot

Pradhan, S. (2022) Concept design of a novel Ferrofluid based feedback system for a primary system of a versatile endovascular assisting robot.

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Abstract:Cardiovascular diseases(CVDs) are the most common cause of death. Endovascular procedures offer a solution to treating many CVDs. Robot-assisted minimally invasive endovascular surgeries are being developed such that the surgeons exposure to ionising radiation is eliminated. Developing such teleoperated robots have limitations since natural haptic feedback is lost. This thesis introduces a novel concept design for a ferrofluid-based feedback system for a robot-assisted endovascular system. The idea is to provide 3-D tactile feedback for a surgeon such that intuitive manipulation of the catheter is enabled. The proposed concept employs ferrofluid along with electromagnets. It is envisioned to provide direction-based tactile feedback to the surgeon. A few design assumptions were considered to conceptualise the system and a set of validation experiments were performed. The optimum placement of electromagnets for the system was also determined through two experiments. A user study was conducted to provide evidence of the feasibility of the design of this system. The study showed 68% compliance with sensing feedback. Direction-based feedback was reported 44% of the time. Further improvements to the initial design were proposed for a functional prototype. The future scope of the system can be extended to other systems that require the 3-D perception of forces.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:31 mathematics, 33 physics, 35 chemistry, 42 biology, 44 medicine, 50 technical science in general, 52 mechanical engineering, 53 electrotechnology, 58 process technology
Programme:Electrical Engineering MSc (60353)
Link to this item:https://purl.utwente.nl/essays/92634
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