Integration of laser-induced graphene in soft actuator fabrication
Embargo Date
2027-11-08
OA Version
Citation
Abstract
Soft robots are gaining traction in surgical research due to their dexterity, biocompatibility, and versatility. Recently, Rogatinsky et al. introduced a minimally invasive surgical catheter system with a soft robotic end effector, the stacked balloon actuator (SBA), designed for maneuvering within the right atrium of the heart. The SBA features extension and omnidirectional bending capabilities, allowing it to brace against vascular anatomies and reach regions within its operational workspace. However, the current SBA manufacturing process is prone to errors due to its material composition -- alternating layers of heat-pressed thermoplastic polyurethane (TPU) and polytetrafluoroethylene (Teflon). Possible design modifications are hindered by the difficulty of aligning layers accurately, and the uneven surface topography created by these materials can lead to actuation failures. This research aims to overcome these limitations by expanding the design possibilities for the SBA, reducing manufacturing errors, and exploring the integration of sensing capabilities. Laser-induced graphene (LIG), a material formed by exposing a polymer surface to a high-energy laser beam, was used in this study. LIG can be transferred onto various substrates and has been employed in fabricating flexible sensors and actuators. Incorporating LIG into the SBA fabrication process led to the development of the graphene SBA (GSBA). The GSBA, with a reduced diameter, maintained the same capabilities as the original model while addressing manufacturing challenges. Preliminary testing with an LIG-based strain sensor yielded promising insights for future GSBA designs.
Description
2025