Haider Abidi1, Giada Gerboni2, Margherita Brancadoro1, Jan Fras3,4, Alessandro Diodato1, Matteo Cianchetti1, Helge Wurdemann5, Kaspar Althoefer4, Arianna Menciassi1. 1. Biorobotics Institute, Scuola Superiore Sant'Anna, Pontedera, PI, Italy. 2. Stanford University, Center for Design Research (CDR), CA, USA. 3. Industrial Research Institute for Automation and Measurements, Warsaw, Poland. 4. Queen Mary University of London, School of Engineering and Materials Science, London, UK. 5. University College London, Department of Mechanical Engineering, London, UK.
Abstract
BACKGROUND: For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS). METHODS: A soft robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation. Dexterity is provided by an optimized design of fluid chambers within the robot modules. Safe physical interaction is ensured by fabricating the entire structure by soft and compliant elastomers, resulting in a squeezable 2-module robot. An inner free lumen/chamber along the central axis serves as a guide of flexible endoscopic tools. A constant curvature based inverse kinematics model is also proposed, providing insight into the robot capabilities. RESULTS: Experimental tests in a surgical scenario using a cadaver model are reported, demonstrating the robot advantages over standard systems in a realistic MIS environment. CONCLUSION: Simulations and experiments show the efficacy of the proposed soft robot.
BACKGROUND: For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack the flexibility to safely maneuver and reach difficult surgical targets. This paper answers this need through designing, fabricating and modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS). METHODS: A soft robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing highly dexterous and inherently safe navigation. Dexterity is provided by an optimized design of fluid chambers within the robot modules. Safe physical interaction is ensured by fabricating the entire structure by soft and compliant elastomers, resulting in a squeezable 2-module robot. An inner free lumen/chamber along the central axis serves as a guide of flexible endoscopic tools. A constant curvature based inverse kinematics model is also proposed, providing insight into the robot capabilities. RESULTS: Experimental tests in a surgical scenario using a cadaver model are reported, demonstrating the robot advantages over standard systems in a realistic MIS environment. CONCLUSION: Simulations and experiments show the efficacy of the proposed soft robot.
Authors: Pierre E Dupont; Bradley J Nelson; Michael Goldfarb; Blake Hannaford; Arianna Menciassi; Marcia K O'Malley; Nabil Simaan; Pietro Valdastri; Guang-Zhong Yang Journal: Sci Robot Date: 2021-11-10
Authors: Nicolo Garbin; Long Wang; James H Chandler; Keith L Obstein; Nabil Simaan; P Valdastri Journal: IEEE Trans Biomed Eng Date: 2018-11-16 Impact factor: 4.538