Mr. Yousef Bahramzadeh Profile

Yousef Bahramzadeh

at Univ of Maine

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Proceedings Article | 4 April 2012 Paper

Ionic Polymer-Metal Composites (IPMCs) as dexterous manipulators and tactile sensors for minimally invasive robotic surgery

Y. Bahramzadeh, M. Shahinpoor

Proceedings Volume 8340, 83402O (2012) https://doi.org/10.1117/12.917432

KEYWORDS: Actuators, Surgery, Robotics, Robots, Sensors, Robotic surgery, Polymers, Composites, Ions, Laparoscopy

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Robot-assisted surgery provides the surgeons with new tools to perform sophisticated surgical operations in a minimally invasive manner. Small robotic end-effectors at the tip of the surgical forceps are the key advantage of robotic surgery over laparoscopic surgery and any improvement on the design of these small robots can significantly improve the overall functionality of the surgical robots. In this sense, novel bio-compatible electro-active polymeric actuators can improve the design and functionality of these robotic end-effectors particularly by introducing smaller and more flexible robotic tools. Here, we introduce the applications of IPMCs as flexible actuators with embedded tactile and force feedback sensors in minimally-invasive robotic surgery. A new design for the robotic manipulation of the organs is presented in which a two dimensional IPMC actuator is replaced with the rigid robotic distal tip. It is shown that with a customized design, IPMC actuators maintain the required dexterity for two-dimensional bending of robotic distal tip. The overall design of the robot could be considered as a hybrid robot with the combination of rigid robotic links and flexible IPMC actuator with two degrees of freedom. On the other hand with the current robotic distal tips, no tactile force feedback is available during surgery and the surgeons rely solely on vision feedback. With the proposed design of actuator, the IPMC based distal tip could be used to deliver force feedback data by using an embedded IPMC tactile sensor. Design considerations, kinematics and chemo-electro-mechanical model of the proposed actuator is presented.

Proceedings Article | 29 March 2011 Paper

Charge modeling of ionic polymer-metal composites for dynamic curvature sensing

Yousef Bahramzadeh, Mohsen Shahinpoor

Proceedings Volume 7976, 79761P (2011) https://doi.org/10.1117/12.880652

KEYWORDS: Sensors, Polymers, Composites, Calibration, Ions, Polymeric sensors, Mechanical sensors, Diffusion, Electrodes, Sensor calibration

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A curvature sensor based on Ionic Polymer-Metal Composite (IPMC) is proposed and characterized for sensing of curvature variation in structures such as inflatable space structures in which using low power and flexible curvature sensor is of high importance for dynamic monitoring of shape at desired points. The linearity of output signal of sensor for calibration, effect of deflection rate at low frequencies and the phase delay between the output signal and the input deformation of IPMC curvature sensor is investigated. An analytical chemo-electro-mechanical model for charge dynamic of IPMC sensor is presented based on Nernst-Planck partial differential equation which can be used to explain the phenomena observed in experiments. The rate dependency of output signal and phase delay between the applied deformation and sensor signal is studied using the proposed model. The model provides a background for predicting the general characteristics of IPMC sensor. It is shown that IPMC sensor exhibits good linearity, sensitivity, and repeatability for dynamic curvature sensing of inflatable structures.

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