FINITE ELEMENT ANALYSIS SIMULATION OF SOFT ROBOTIC MANIPULATOR FOR ENDOTRACHEAL INTUBATION

• Main Author: Ferrandy T, Varell
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/68028
• Institution: Institut Teknologi Bandung

During surgical procedures or in emergency conditions, endotracheal intubation (ETI) is performed to maintain the stability of the patient, even though the procedure is still indicated to be high risk and difficult to do. Seeing this and the potential of soft robots as medical devices, the ITB research team has developed an affordable soft robot design for endotracheal intubation applications. However, a validated finite element analysis model is still needed to examine in detail the phenomena and movement characteristics of the soft robotic manipulator. In this final project, the finite element analysis modeling of the soft robotic manipulator is carried out on the SIMULIA ABAQUS software, and the simulation results in the form of bending angles and bending plane orientation angles will be validated with experimental data. The research also includes the methods for processing data from simulation results, as well as convergence and computational load optimization of the simulations. Modeling techniques and data processing methods are described in chapter four. The convergence optimization of the simulation includes changing the simulation step type, geometric order of the elements, and adding contact stabilization. The additional layer for fixing the windings and windings orientation angle significantly affect the simulation results, but other factors such as gravity and discrete pressure input are neglectable. The comparison between the simulation and the experimental results shows that the simulation is able to capture the bending movement behavior of the manipulator, although an input pressure offset of 0.02 MPa is needed to match the bending angle data. During the vectorization movement, the bending plane orientation angle data shows similar results to the experiment, even though the simulation faces convergence issues at higher pressure.