新型柔性机器人人工心脏心室的初步研究

Lucrezia Lorenzon, Giulia Beccali, M. Cianchetti
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引用次数: 0

摘要

在这项工作中,我们描述了一种软机器人人工心脏心室,其新颖的泵送策略基于含流体和被动软壳的可编程变形。在泵送过程中,软壳坍塌,显示出向内褶皱的形成,这强烈地促进了软壳体积的减少,从而降低了泵送功能。我们的软机器人人工心室是一个独立的系统,由逆气动人造肌肉驱动,这些肌肉以螺旋的方式排列在软壳周围。我们提出了一种电缆驱动的软泵作为研究平台,初步研究了泵送策略和驱动要求。制作了三种类型的逆气动人工肌肉,并对其进行了实验表征,作为人工心室的候选执行器。最后,设计了一个由软壳构成的心室样机和一个由5个反向气动致动器组成的致动系统,并在生理相关的前载压力和后载压力条件下进行了测试。实验结果表明,我们的软机器人人工心室满足肺循环右心心室的功能要求。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A preliminary study on an innovative soft robotic artificial heart ventricle
In this work, we describe a soft robotic artificial heart ventricle whose novel pumping strategy is based on the programmable deformation of a fluid-containing and passive soft-shell. During pumping, the soft-shell collapses, showing the formation of inward folds that strongly contribute to the volumetric reduction of the soft-shell, thus to the pumping functionality. Our soft robotic artificial ventricle is a stand-alone system actuated by inverse pneumatic artificial muscles, that are arranged in a helical fashion around the soft-shell. We present a cable-driven soft pump as a study platform for preliminary investigation of the pumping strategy and the requirements for actuation. Three typologies of inverse pneumatic artificial muscles were fabricated and experimentally characterized as candidate actuators for the artificial ventricle. Finally, a ventricle prototype constituted by a soft-shell and an actuating system made of five inverse pneumatic actuators was designed and tested under physiologically relevant conditions of preload and afterload pressure. The experimental results demonstrated that our soft robotic artificial ventricle meets the functional requirements of a right heart ventricle operating in pulmonary circulation.
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