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Conception et commande d'un robot endoscopique continu à actionneurs en polymères électroactifs pour le diagnostic du cancer de la vessie

Abstract : Minimally Invasive Surgery (MIS) is a well-known alternative to traditional open surgery. MIS is used to diagnosis and treat bladder cancer during cystoscopic examination of the bladder. Cystoscopy consists of the insertion of a flexible instrument into the bladder through the urethra to detect any lesion by performing a mapping. However, a perfect mapping of the bladder may be compromised by uncertainties related to many human and environmental factors that could be overcome by partial or total automation which is not available at the present time. Nowadays, recent advances in materials have opened a new and promising way to fulfil the surgical requirements and size constraint for the development of smart continuum structures. Among samrt materials, electrostrictive polymer exhibit exceptionally large, fast, precisely controlled, repeatable, and reversible motion, however, at the expense of large, applied voltage incompatible with in vivo medical application. To overcome these issues, a multilayered concept has been proposed. In this work, the terpolymer P(VDF-TrFE-CTFE), a relaxor ferroelectric electrostrictive polymer is studied for his large electromechanical strain. A wide range of parameters involved in the active material has led us to the development of a finite element model on Abaqus to guide the experimental development. Then, the robot must navigate inside a micro-scale environment without any landmark and under unmeasured perturbations due to organ movement. For a safe and precise navigation, kinematic and dynamic models have been built. To test and validate these models a Co-simulation procedure has been developed. This procedure coupled Abaqus and Matlab-Simulink allowing testing proposed control algorithms.
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Submitted on : Tuesday, May 24, 2022 - 5:05:48 PM
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  • HAL Id : tel-03677565, version 1

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Quentin Jacquemin. Conception et commande d'un robot endoscopique continu à actionneurs en polymères électroactifs pour le diagnostic du cancer de la vessie. Automatique / Robotique. HESAM Université, 2021. Français. ⟨NNT : 2021HESAE024⟩. ⟨tel-03677565⟩

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