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Hydraulically-actuated compliant revolute joint for medical robotic systems based on multimaterial additive manufacturing

: Pfeil, Antoine; Siegfarth, Marius; Geiskopf, Francois; Pusch, Tim Philipp; Barbé, Laurent; Renaud, Pierre


Institute of Electrical and Electronics Engineers -IEEE-:
IEEE International Conference on Robotics and Automation, ICRA 2019 : May 20-24, 2019, Montreal, Canada
Piscataway, NJ: IEEE, 2019
ISBN: 978-1-5386-6026-3
ISBN: 978-1-5386-6027-0
ISBN: 978-1-5386-8176-3
International Conference on Robotics and Automation (ICRA) <2019, Montreal>
Fraunhofer IPA ()
Medizinroboter; Additive Manufacturing (AM); Magnetresonanztomographie (MRT); Teleoperation; Aktor; Hydraulik

In this paper, an active compliant revolute joint actuated by hydraulic energy is developed. The joint is made of polymer for integration in medical robotic systems, even in a challenging environment such as Magnetic Resonance Imaging (MRI). The use of multimaterial additive manufacturing allows us to develop two original aspects. First, a new seal design is proposed to build miniature hydraulic cylinders embedded in the active joint, with low level of friction. Second, a rack-and-pinion mechanism is being integrated to a compliant revolute joint to obtain a high level of compactness. Design and experimental assessment of the hydraulic cylinder and the compliant joint with embedded rack-and-pinion are presented, as well as an illustration in the context of needle manipulation with passive teleoperation.