Technical Brief

Soft Passive Valves for Serial Actuation in a Soft Hydraulic Robotic Catheter1

[+] Author and Article Information
Mark D. Gilbertson, Gillian McDonald, Gabriel Korinek, James D. Van de Ven, Timothy M. Kowalewski

Mechanical Engineering Department,
University of Minnesota,
Minneapolis, MN 55455

DOI: 10.1115/1.4033803Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030931 (Aug 01, 2016) (2 pages) Paper No: MED-16-1114; doi: 10.1115/1.4033803 History: Received March 01, 2016; Revised March 17, 2016

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Tondu, B. , and Lopez, P. , 1997, “ The Mckibben Muscle and Its Use in Actuating Robot-Arms Showing Similarities With Human Arm Behaviour,” Ind. Rob., 24(6), pp. 432–439. [CrossRef]
Bishop-Moser, J. , and Kota, S. , 2015, “ Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators,” IEEE Trans. Rob., 31(3), pp. 536–545. [CrossRef]
Napp, N. , Araki, B. , Tolley, M. T. , Nagpal, R. , and Wood, R. J. , 2014, “ Simple Passive Valves for Addressable Pneumatic Actuation,” IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 31–June 7, pp. 1440–1445.


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Fig. 1

Catheter robot traversing a blood vessel

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Fig. 2

Actuation states of catheter robot segments

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Fig. 3

Valve diagram showing the thickness and angle of the valve as well as the forward and reverse flow directions

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Fig. 4

Two-piece mold with six varying cone angles and a variable height

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Fig. 5

Hydraulic pump setup

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Fig. 6

Contour of the cracking pressure ratios (Prev/Pfwd − 1) for varying thicknesses and cone angles



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