Flexible Robotics

Vyas, Lona; Aquino, Domenico; Kuo, Chin-Hsing; Dai, Jian S.

doi:10.1111/j.1464-410x.2010.09886.x

Cited by 21 publications

(12 citation statements)

References 5 publications

(5 reference statements)

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“…From the patient's point of view, the advantages of MIS may outweigh the complications by a significant margin. However, for surgeons the difficulties encountered in properly manoeuvring instruments in a constrained and sensitive workspace such as the human body's internal organs impose significant limitations . The workspace of a typical laparoscopic tool is in the form of a cone (or multiple cones) having its apex at the entry point, i.e.…”

Section: Introductionmentioning

confidence: 99%

Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery

Abidi

Gerboni

Brancadoro

et al. 2017

Robotics Computer Surgery

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Section: Introductionmentioning

confidence: 99%

Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery

Abidi

Gerboni

Brancadoro

et al. 2017

Robotics Computer Surgery

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“…In addition especially in the case of laparo-endoscopic singlesite surgery (LESS) [2] and natural orifice transluminal endoscopic surgery (NOTES), rigid or semi-rigid tools may lead to significant clashing of instrumentation and increase the complexity of the procedures [3]. Flexible endoscopes can be used for NOTES or LESS; indeed thanks to their high flexibility, they may allow to reach the surgical target while being inserted remotely or by a natural orifice.…”

Section: Introductionmentioning

confidence: 99%

STIFF-FLOP surgical manipulator: Mechanical design and experimental characterization of the single module

Cianchetti

Ranzani

Gerboni

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

261

188

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This paper presents the concept design, the fabrication and the experimental characterization of a unit of a modular manipulator for minimal access surgery. Traditional surgical manipulators are usually based on metallic steerable needles, tendon driven mechanisms or articulated motorized links. In this work the main idea is to combine flexible fluidic actuators enabling omnidirectional bending and elongation capability and the granular jamming phenomenon to implement a selective stiffness changing. The proposed manipulator is based on a series of identical modules, each one consisting of a silicone tube with pneumatic chambers for allowing 3D motion and one central channel for the implementation of the granular jamming phenomenon for stiffening. The silicone is covered by a novel bellows-shaped braided structure maximizing the bending still limiting lateral expansion. In this paper one single module is tested in terms of bending range, elongation capability, generated forces and stiffness changing

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“…Since such procedures are mainly executed using rigid or semi‐rigid tools with limited dexterity, flexibility, and maneuverability; this procedure often requires up to five trocar accesses. Moreover, these instruments easily clash during the operation increasing the overall complexity of the procedure . New robotic technologies can ease the task of the surgeons, guarantee accuracy, predictability, and repeatability to restore a surgeon's intuition to the robotic procedure and provide additional tip dexterity.…”

Section: Surgical Toolsmentioning

confidence: 99%

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

et al. 2017

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The emerging field of soft robotics makes use of many classes of materials including metals, low glass transition temperature (Tg) plastics, and high Tg elastomers. Dependent on the specific design, all of these materials may result in extrinsically soft robots. Organic elastomers, however, have elastic moduli ranging from tens of megapascals down to kilopascals; robots composed of such materials are intrinsically soft À they are always compliant independent of their shape. This class of soft machines has been used to reduce control complexity and manufacturing cost of robots, while enabling sophisticated and novel functionalities often in direct contact with humans. This review focuses on a particular type of intrinsically soft, elastomeric robot À those powered via fluidic pressurization.

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Flexible Robotics

Cited by 21 publications

References 5 publications

Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery

Highly dexterous 2‐module soft robot for intra‐organ navigation in minimally invasive surgery

STIFF-FLOP surgical manipulator: Mechanical design and experimental characterization of the single module

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

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