Control of a soft robotic diaphragm to improve liver respiratory motion simulation

Finished: 2020-01-31

Individual assignment

In percutaneous interventions for hepatic tumor treatment, organ motion caused by respiration can lead to inaccurate needle placement hence less effective therapeutic and diagnostic outcome. The aim of this project is to improve and control an already-developed-prototype of a robotic phantom that mimics respiratory motion in liver for needle insertion procedures.