Development of a half sphere bending soft actuator for flexible bronchoscope movement

Surakusumah, Rino Ferdian; Faudzi, Ahmad Athif Mohd; Dewi, Dyah Ekashanti Octorina; Supriyanto, Eko

doi:10.1109/roma.2014.7295873

Cited by 13 publications

(6 citation statements)

References 2 publications

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“…It has also been reported that achieving even thicknesses can be difficult, which is one of the issues caused by using 3D printed molds, as well as the ability to produce small enough molds and prevent them from melting during heating to cure the elastomer. 25…”

Section: Resultsmentioning

confidence: 99%

“…Pairs of finger-like pneumatic actuators of semicircular profile with fiber reinforcement at distinct angles have been coupled together in parallel back to back to produce both bending and twisting motions; however, the bending behavior is asymmetric as a result of the asymmetric design. 25 Again, by changing the fiber winding angle, the motion of the manipulator can be programmed.…”

Section: Resultsmentioning

confidence: 99%

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Soft Robotics in Minimally Invasive Surgery

2019

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Soft robotic devices have desirable traits for applications in minimally invasive surgery (MIS), but many interdisciplinary challenges remain unsolved. To understand current technologies, we carried out a keyword search using the Web of Science and Scopus databases, applied inclusion and exclusion criteria, and compared several characteristics of the soft robotic devices for MIS in the resulting articles. There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities. We propose a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Soft Robotics in Minimally Invasive Surgery

2019

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“…Endoscopic devices also often suffer from limited distal tip dexterity, and this issue has been tackled by incorporating pneumatic actuation mechanisms with them. For example, pneumatic tubular actuators were developed and optimized for applications in flexible microactuator-based endoscopes to facilitate colonoscopy [201,202] as well as a bronchoscope to observe lung airway and obstructions in the bronchus [203]. Combining a chip-on-tip CMOS camera with an elastic inflatable microactuator, Gorissen et al presented a flexible endoscope for navigating through intricate topologies of the human body [204].…”

Section: Surgical and Endoscopic Toolsmentioning

confidence: 99%

MEMS actuators for biomedical applications: a review

Ghazali

Hasan

Rehman

et al. 2020

J. Micromech. Microeng.

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Micro-electromechanical-system (MEMS) based actuators, which transduce certain domains of energy into mechanical movements in the microscopic scale, are increasingly contributing to the areas of biomedical engineering and healthcare applications. They are enabling new functionalities in biomedical devices through their unique miniaturized features. An effective selection of a particular actuator, among a wide range of actuator types available in the MEMS field, needs to be made through the assessment of many factors involved in both the actuator itself and the target application. This paper presents an overview of the state-of-the-art MEMS actuators that have been developed for biomedical applications. The actuation methods, working principle, and imperative features of these actuators are discussed along with their specific applications. An emphasis of this review is placed on temperature-responsive, electromagnetic, piezoelectric, and fluid-driven actuators towards various application areas including lab-on-a-chip, drug delivery systems, cardiac devices and surgical tools. It also highlights the key issues of MEMS actuators in light of biomedical applications.

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“…alternative due to their low cost, bio-compatibility, and intrinsic safety in unstructured environments [6]. For instance, [7] proposed a soft manipulator for bronchoscopy which consists of two actuators, one for twisting and one for bending, and has an outer diameter of 6.5 mm. A soft manipulator with 2.4 mm outer diameter was proposed in [8].…”

Section: Introductionmentioning

confidence: 99%

Design and Manufacturing of an Affordable Soft-Robotic Manipulator for Minimally Invasive Diagnosis

Virdyawan

Ayatullah

Sugiharto

et al. 2022

2022 7th International Conference on Robotics and Automation Engineering (ICRAE)

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Soft robotic manipulators are inherently compliant thus they are ideally suited for minimally invasive diagnosis and intervention. In addition, soft robotics allows for affordable manufacturing, thus it could be adopted in low and middleincome countries where conventional robotics is prohibitively expensive. In this work, the design, manufacturing, and actuation strategy of an affordable soft robotic manipulator is presented. The manufacturing process does not rely on sophisticated technologies, and the pneumatic actuation does not require digital pressure regulators. Instead, a low-cost solution consisting of a needle valve operated by a servo motor is employed. The prototype is assessed with experiments that demonstrate its functionality.

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Development of a half sphere bending soft actuator for flexible bronchoscope movement

Cited by 13 publications

References 2 publications

Soft Robotics in Minimally Invasive Surgery

Soft Robotics in Minimally Invasive Surgery

MEMS actuators for biomedical applications: a review

Design and Manufacturing of an Affordable Soft-Robotic Manipulator for Minimally Invasive Diagnosis

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