The development of a steerable needle robot with biomaterials for the application of 3D printing in situ towards in vivo artificial muscles : a thesis presented in partial fulfilment of the requirements for the degree of Doctor of Philosophy in Engineering at Massey University, Palmerston North, New Zealand

Abstract

Additive manufacturing is an emerging and continually growing field of research with great potential in the development of new technologies through which to change the world as we know it. This thesis offers a look from a 3D printing perspective towards the diverse fields of artificial muscle fabrication, bioprinting, polymer chemistry which can effect shape change or other responses under stimuli, as well an in detail investigation into steerable needle robotics and its potential as a mechanism for additive manufacturing. Since the 3D printing of (bio)polymers is generally reserved for the fabrication of structures on beds which are far away from where their intended use is intended, this thesis proposes an approach to 3D printing exactly the polymer that is of interest in the location in which it is intended. This thesis presents the research and development of a flexible steerable needle robot for the application of 3D printing (bio)polymers which could take the form of artificial muscles, bone, nerves, etc. in vivo. This is extremely challenging, however, and the research undertaken is intended towards building the capability to one day in future achieving this goal. Several experiments are presented which explore the characteristics of a custom developed steerable needle robot in application for 3D printing which include: its mechanisms, its control systems, its algorithms to accurately reach a target goal within a presented body, as well as it visualization system. Furthermore, this developed robot is then utilized to ”3D print” a (bio)polymer inside of a prepared phantom body (e.g., gelatine) to fabricate a bio-fiber. While the bio-fibers presented by this thesis are simple and do not react under any stimulus to act as an artificial muscle, there is a further future opportunity identified which could utilize advanced polymer chemistry to in fact achieve this end result. This thesis contributes towards the synthesis of multiple fields of research towards the goal of one day realizing the imagination of science fiction. Namely, the ability to quickly regenerate human tissue without the need for complex surgeries as well as the fabrication of fibers which could form part of artificial limbs or bodies.