Design of a soft catheter for low-force and constrained surgery

Slade, Patrick; Gruebele, Alex; Hammond, Zachary M.; Raitor, Michael; Okamura, Allison M.; Hawkes, Elliot W.

doi:10.1109/iros.2017.8202154

Cited by 34 publications

(19 citation statements)

References 23 publications

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“…Two methods have been developed for preforming everting vine robots. In Slade et al ( 2017 ) and Agharese et al ( 2018 ), the robot was shaped by heating the thermoplastic body material (LDPE) while it was stretched over molds of the desired shape. This allowed the material to be heat-set and maintain the shape of the mold once removed, creating smoothly varying shapes.…”

Section: Designmentioning

confidence: 99%

“…Reprinted with permission from AAAS. Modified from Blumenschein et al ( 2018a ) © IEEE 2018, Gan et al ( 2020 ) © IEEE 2020, Agharese et al ( 2018 ) © IEEE 2018, Blumenschein et al ( 2018b ) © IEEE 2018, Greer et al ( 2017 ) © IEEE 2017, Jeong et al ( 2020 ), Naclerio et al ( 2018 ) © IEEE 2018, Coad et al ( 2020a ) © IEEE 2020, Slade et al ( 2017 ) © IEEE 2017, and Luong et al ( 2019 ) © IEEE 2019.…”

Section: Applicationsmentioning

confidence: 99%

“…A similar application area was proposed in Luong et al ( 2019 ), using a water-filled everting vine robot to non-destructively monitor underwater ecosystems. In the field of medicine, preliminary demonstrations have shown the ability of everting vine robots to navigate tortuous paths similar to those encountered inside the human body, with minimal force applied to the environment compared to standard catheters and other medical tools pushed from the base (Slade et al, 2017 ). Continued work on mounting items at the robot tip without encumbering the robot's navigation ability will enable new capabilities for these types of applications.…”

Section: Applicationsmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

et al. 2020

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In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures. Recently, this form of movement has been artificially realized through pressure-driven eversion of flexible, thin-walled tubes. Here we review recent work on robots that “grow” via pressure-driven eversion, referred to as “everting vine robots,” due to a movement pattern that is similar to that of natural vines. We break this work into four categories. First, we examine the design of everting vine robots, highlighting tradeoffs in material selection, actuation methods, and placement of sensors and tools. These tradeoffs have led to application-specific implementations. Second, we describe the state of and need for modeling everting vine robots. Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees of freedom. Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot. Fourth, we highlight the benefits and challenges of using this paradigm of movement for various applications. Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment. We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.

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Section: Designmentioning

confidence: 99%

Section: Applicationsmentioning

confidence: 99%

Section: Applicationsmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

et al. 2020

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“…Lastly, the model is limited to two-dimensional maps with polygonal obstacles. Recent work on soft growing robot designs has explored applications in medical robotics (Slade et al, 2017) and archaeological exploration (Coad et al, 2019), which involve environments with 3D geometry and smooth obstacles not well approximated by polygons. To extend this model to these more general three-dimensional environments, sliding contact kinematics would have to be reformulated.…”

Section: Discussionmentioning

confidence: 99%

Robust navigation of a soft growing robot by exploiting contact with the environment

Greer

Blumenschein

Alterovitz

et al. 2020

The International Journal of Robotics Research

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Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions are fundamentally dangerous. However, because many soft robots have bodies that are low-inertia and compliant, obstacle contact is inherently safe. As a result, constraining paths of the robot to not interact with the environment is not necessary and may be limiting. In this paper, we mathematically formalize interactions of a soft growing robot with a planar environment in an empirical kinematic model. Using this interaction model, we develop a method to plan paths for the robot to a destination. Rather than avoiding contact with the environment, the planner exploits obstacle contact when beneficial for navigation. We find that a planner that takes into account and capitalizes on environmental contact produces paths that are more robust to uncertainty than a planner that avoids all obstacle contact.

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“…Due to the intrinsically soft structure, enabled by the constitutive materials and by the pneumatic actuation, the robot design appears suitable both for fabrication in different sizes and for safe and painless interaction with surrounding tissues. The presence of a camera on the robot tip enables one to foresee the employment of such system in future endoscopic applications [ 130 , 131 ].…”

Section: Innovative Robotic Colonoscopes: Research Initiatives Andmentioning

confidence: 99%

Frontiers of Robotic Colonoscopy: A Comprehensive Review of Robotic Colonoscopes and Technologies

Ciuti

Skonieczna-Żydecka

Marlicz

et al. 2020

JCM

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Flexible colonoscopy remains the prime mean of screening for colorectal cancer (CRC) and the gold standard of all population-based screening pathways around the world. Almost 60% of CRC deaths could be prevented with screening. However, colonoscopy attendance rates are affected by discomfort, fear of pain and embarrassment or loss of control during the procedure. Moreover, the emergence and global thread of new communicable diseases might seriously affect the functioning of contemporary centres performing gastrointestinal endoscopy. Innovative solutions are needed: artificial intelligence (AI) and physical robotics will drastically contribute for the future of the healthcare services. The translation of robotic technologies from traditional surgery to minimally invasive endoscopic interventions is an emerging field, mainly challenged by the tough requirements for miniaturization. Pioneering approaches for robotic colonoscopy have been reported in the nineties, with the appearance of inchworm-like devices. Since then, robotic colonoscopes with assistive functionalities have become commercially available. Research prototypes promise enhanced accessibility and flexibility for future therapeutic interventions, even via autonomous or robotic-assisted agents, such as robotic capsules. Furthermore, the pairing of such endoscopic systems with AI-enabled image analysis and recognition methods promises enhanced diagnostic yield. By assembling a multidisciplinary team of engineers and endoscopists, the paper aims to provide a contemporary and highly-pictorial critical review for robotic colonoscopes, hence providing clinicians and researchers with a glimpse of the major changes and challenges that lie ahead.

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Design of a soft catheter for low-force and constrained surgery

Cited by 34 publications

References 23 publications

Design, Modeling, Control, and Application of Everting Vine Robots

Design, Modeling, Control, and Application of Everting Vine Robots

Robust navigation of a soft growing robot by exploiting contact with the environment

Frontiers of Robotic Colonoscopy: A Comprehensive Review of Robotic Colonoscopes and Technologies

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