State-of-the-art haptic interfaces are often limited in providing accurate tactile feedback and commercially available devices are unintuitive due to task-agnostic designs. This is particularly challenging in clinical applications where fine manipulation of tools is achieved by highly skilled users and is of utmost importance to ensure successful procedure outcomes. To overcome the aforementioned limitations, the aim of this project is to create a new type of adaptive, reconfigurable haptic device using soft robotics and fluidic actuation technologies. The produced device will be applied in the context of percutaneous needle guidance in interventional radiology where precision manipulation of the inserted needle probe under tactile guidance is required. The student will work closely with clinical partners to create a user friendly and intuitive design. The haptic device will be employed for steering a previously developed soft robotic end-effector. Different types of telemanipulation will be trialled, including remote controlled operation through a set of fluidic pumps and direct fluidic transmission between the haptic device and the soft robot end-effector.
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A soft robotic, fluid-driven haptic interface for interventional radiology
