Millimeter-Scale Robotic Mechanisms Using Carbon Nanotube Composite Structures

Abstract

This paper presents a method for fabricating millimeter-scale robotic components for minimally invasive surgery. Photolithographic patterning is used to create a framework of carbon nanotubes (CNTs) that can be infiltrated with a variety of materials, depending on the desired material properties. For the examples shown in this paper, amorphous carbon is used as the infiltration material. The planar frameworks are then stacked to create the 3D device. The detail and precision are affected by large changes in cross section in the direction of stacking. Methods for improving the definition of the 3D object due to changing cross section are discussed. The process is demonstrated in a two-degree-of-freedom (2DOF) wrist mechanism and a 2DOF surgical gripping mechanism, which have the potential of decreasing the size of future minimally invasive surgical instruments.

Curvature-induced defects on carbon-infiltrated carbon nanotube forests

“…CICNT in quartz tubes were manufactured using a process that has been reported previously for at, silicon substrates. 27,28 The tubes were cut roughly 2 inches long and then in half lengthwise (Fig. 2a) to expose the inside curvature to thin lm deposition processes.…”

Electrostatic Force-Driven Millimeter-Class Mechanisms for Micro-Assembly Work

“…2, d2 is the total thickness of the case material, 1  and 2  are the absolute permittivities of the dielectric material and the case materials respectively, and they are given by Based on the model illustrated in Fig.2, we designed a gripper based on the compliant mechanism [17] concept. Use of the compliant mechanism concept significantly simplifies the mechanism design by reducing a number of mechanical components.…”

“…Kuribayashi designed a Shape Memory Alloy (SMA) actuated micro-robot to work under a microscope [1]. Tanner and others developed a cable-driven robotic mechanism for minimally invasive surgery using carbon nanotube composite structures [2]. A 6-DOF micro-robot controlled by magnetic forces was created by Diller and others [3].…”