Methods of fabricating multi-degree of freedom shaped electroactive polymer actuators/sensors for catheters
View Patent ↗Disclosed is a method of fabricating a multiple degree of freedom actuator with inter-digitated electrodes including molding an electroactive polymer membrane so that a plurality of projections are formed around a cross section of an outer surface of the polymer membrane; depositing a metal electrode layer onto the outer surface of the molded membrane; and removing the plurality of projections on the outer surface on the molded membrane, thereby forming a multiple degree of freedom actuator with a plurality of inter-digitated electrodes. Also provided are actuators as well as devices (such as catheters) including such actuators formed by the disclosed methods of fabricating an actuator with multiple DOF.
1. A method of fabricating a multiple degree of freedom actuator with inter-digitated electrodes, comprising:
molding an electroactive polymer membrane so that a plurality of projections are formed around a cross section of an outer surface of the polymer membrane;
depositing a metal electrode layer onto the outer surface of the molded membrane; and
removing the plurality of projections on the outer surface on the molded membrane, thereby forming a multiple degree of freedom actuator with a plurality of inter-digitated electrodes.
2. The method of claim 1 , wherein the plurality of projections are approximately 0.2 mm in width and are position at approximately 90° of each other.
3. The method of claim 1 , wherein each projection extends longitudinally along the molded membrane.
4. The method of claim 1 , wherein the removing the plurality of projections is by use of a cutting tool.
5. The method of claim 1 , wherein the electroactive polymer comprises an ionic polymer metal composite (IPMC).
6. The method of claim 1 , wherein the method is used to form an actuator with 4 inter-digitated electrodes.
7. The method of claim 1 , wherein the actuator is for a catheter.
8. The method of claim 1 , wherein the method does not comprise mechanical or laser machining.
9. An actuator formed by the method of claim 1 .
10. The actuator of claim 9 , wherein the actuator is cylindrical in shape.
11. The actuator of claim 10 , wherein the actuator comprises ionic polymer metal composite (IPMC) and 4 inter-digitated electrodes.
12. The actuator of claim 11 , wherein the actuator has actuation capability in 4 directions.
13. The actuator of claim 12 , wherein the actuator has capability of bending to angles up to 50°.
14. The actuator of claim 13 , wherein the actuator has a cross section of about 1 mm.
15. The actuator of claim 14 , wherein the actuator is about 20 mm length.
16. The actuator of claim 10 , wherein the actuator further comprises a contact electrode.
17. The actuator of claim 16 , wherein the contact electrode is connected to the inter-digitated electrodes by a composition comprising silicone rubber.
18. A catheter comprising one or more actuators of claim 17 .