Design of a Deployable Soft Robotic Positioning Mechanism for Endoluminal Interventions
My main PhD research so far explores a catheter-integrated soft robotic mechanism for EVAR-like endoluminal procedures, where accurate stent graft alignment requires controlled axial translation and rotation inside confined anatomy.
The system combines soft stabilisation actuators, linear bellow actuators, and twisting actuators in a symmetrical parallel structure. By anchoring both ends, the mechanism can operate as a closed chain, improving positioning stability while allowing actuator preload to tune stiffness during manipulation.
- Designed for two key motions in endoluminal positioning: axial translation and rotation.
- Uses deployable soft anchors to stabilise the mechanism inside a vessel-like workspace.
- Bench-top tests showed improved positioning accuracy in the closed-chain configuration.
- Phantom validation under X-ray fluoroscopy demonstrated sub-millimetre and sub-degree positioning accuracy under closed-loop control.