Development of a soft robotic catheter for vascular intervention surgery

Nguyễn, Chí Công; Thai, Mai Thanh; Hoang, Trung Thien; Davies, James; Phan, Phuoc Thien; Zhu, Kefan; Wu, Liao; Brodie, Matthew A.; Tsai, David; Ha, Q.P.; Phan, Hoang‐Phuong; Lovell, Nigel H.; Nho, Thanh

doi:10.1016/j.sna.2023.114380

Cited by 17 publications

(6 citation statements)

References 42 publications

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“…[ 47,48 ] Special catheter tools with a balloon, [ 23 ] stent [ 49 ] or basket [ 50 ] tip configuration were being developed primarily for angioplasty, thrombus removal, as well as ureteric stricture dilation. [ 22,51,52 ] Besides, these catheter tools were employed as a promising approach for cardiac ablation, due to their soft, spatial and conformal manner through the controlled inflation or expansion to adapt to the complex and time‐dynamic cardiac surfaces without destructions. For example, in Roger's group, [ 22,23 ] a multilayered functional device with arrays of temperature sensors, pressure sensors, ablation electrodes and electrophysiological sensors was conformed onto a balloon catheter for the sensing and treatment of AF (Figure 2d).…”

Section: An Overview Of Soft Medical Robotsmentioning

confidence: 99%

“…For instance, Nguyen et al threaded the SFSs through the endeffector of an ablation catheter, forming two bending curves for normal force detection. [51] In another work, [86] three SFSs were equilaterally arranged across the circumference of the robotic end-effector, forming a 3-DOF force sensor. A plunger is placed over the fibers to transfer external loads into deformations in the fibers.…”

Section: Force/pressure Sensors For Tool-tissue Interaction Controlmentioning

confidence: 99%

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Integrated Sensors for Soft Medical Robotics

Qiu,

Ashok,

Nguyen

et al. 2024

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Minimally invasive procedures assisted by soft robots for surgery, diagnostics, and drug delivery have unprecedented benefits over traditional solutions from both patient and surgeon perspectives. However, the translation of such technology into commercialization remains challenging. The lack of perception abilities is one of the obstructive factors paramount for a safe, accurate and efficient robot‐assisted intervention. Integrating different types of miniature sensors onto robotic end‐effectors is a promising trend to compensate for the perceptual deficiencies in soft robots. For example, haptic feedback with force sensors helps surgeons to control the interaction force at the tool‐tissue interface, impedance sensing of tissue electrical properties can be used for tumor detection. The last decade has witnessed significant progress in the development of multimodal sensors built on the advancement in engineering, material science and scalable micromachining technologies. This review article provides a snapshot on common types of integrated sensors for soft medical robots. It covers various sensing mechanisms, examples for practical and clinical applications, standard manufacturing processes, as well as insights on emerging engineering routes for the fabrication of novel and high‐performing sensing devices.

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Section: An Overview Of Soft Medical Robotsmentioning

confidence: 99%

Section: Force/pressure Sensors For Tool-tissue Interaction Controlmentioning

confidence: 99%

Integrated Sensors for Soft Medical Robotics

Qiu,

Ashok,

Nguyen

et al. 2024

Small

Self Cite

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“…The equipment connection layout and physical illustration are shown in Figure 4. Details of the fabrication process of the soft robotic arm can be found in our previous work [33]. It is noted that the integration of pneumatic soft sensors to the robotic arm retains the mechanical flexibility of the system as well as small incision size.…”

Section: Readout Circuitmentioning

confidence: 99%

Transparent Pneumatic Tactile Sensors for Soft Biomedical Robotics

Zhao

Nguyễn

Hoang

et al. 2023

Sensors

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Palpation is a simple but effective method to distinguish tumors from healthy tissues. The development of miniaturized tactile sensors embedded on endoscopic or robotic devices is key to achieving precise palpation diagnosis and subsequent timely treatment. This paper reports on the fabrication and characterization of a novel tactile sensor with mechanical flexibility and optical transparency that can be easily mounted on soft surgical endoscopes and robotics. By utilizing the pneumatic sensing mechanism, the sensor offers a high sensitivity of 1.25 mbar and negligible hysteresis, enabling the detection of phantom tissues with different stiffnesses ranging from 0 to 2.5 MPa. Our configuration, combining pneumatic sensing and hydraulic actuating, also eliminates electrical wiring from the functional elements located at the robot end-effector, thereby enhancing the system safety. The optical transparency path in the sensors together with its mechanical sensing capability open interesting possibilities in the early detection of solid tumor as well as in the development of all-in-one soft surgical robots that can perform visual/mechanical feedback and optical therapy.

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“…Inspired by nature [ 43 ], soft robots have provided innovative solutions for medical interventions [ 44 ]. Within the medical field, soft robots have found wide applications as flexible tubes, commonly referred to as catheters, for MIS.…”

Section: Introductionmentioning

confidence: 99%

Design Optimization of a Hybrid-Driven Soft Surgical Robot with Biomimetic Constraints

Roshanfar,

Dargahi,

Hooshiar

2024

Biomimetics

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The current study investigated the geometry optimization of a hybrid-driven (based on the combination of air pressure and tendon tension) soft robot for use in robot-assisted intra-bronchial intervention. Soft robots, made from compliant materials, have gained popularity for use in surgical interventions due to their dexterity and safety. The current study aimed to design a catheter-like soft robot with an improved performance by minimizing radial expansion during inflation and increasing the force exerted on targeted tissues through geometry optimization. To do so, a finite element analysis (FEA) was employed to optimize the soft robot’s geometry, considering a multi-objective goal function that incorporated factors such as chamber pressures, tendon tensions, and the cross-sectional area. To accomplish this, a cylindrical soft robot with three air chambers, three tendons, and a central working channel was considered. Then, the dimensions of the soft robot, including the length of the air chambers, the diameter of the air chambers, and the offsets of the air chambers and tendon routes, were optimized to minimize the goal function in an in-plane bending scenario. To accurately simulate the behavior of the soft robot, Ecoflex 00-50 samples were tested based on ISO 7743, and a hyperplastic model was fitted on the compression test data. The FEA simulations were performed using the response surface optimization (RSO) module in ANSYS software, which iteratively explored the design space based on defined objectives and constraints. Using RSO, 45 points of experiments were generated based on the geometrical and loading constraints. During the simulations, tendon force was applied to the tip of the soft robot, while simultaneously, air pressure was applied inside the chamber. Following the optimization of the geometry, a prototype of the soft robot with the optimized values was fabricated and tested in a phantom model, mimicking simulated surgical conditions. The decreased actuation effort and radial expansion of the soft robot resulting from the optimization process have the potential to increase the performance of the manipulator. This advancement led to improved control over the soft robot while additionally minimizing unnecessary cross-sectional expansion. The study demonstrates the effectiveness of the optimization methodology for refining the soft robot’s design and highlights its potential for enhancing surgical interventions.

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Development of a soft robotic catheter for vascular intervention surgery

Cited by 17 publications

References 42 publications

Integrated Sensors for Soft Medical Robotics

Integrated Sensors for Soft Medical Robotics

Transparent Pneumatic Tactile Sensors for Soft Biomedical Robotics

Design Optimization of a Hybrid-Driven Soft Surgical Robot with Biomimetic Constraints

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