Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures

Russo, Sheila; Ranzani, Tommaso; Gafford, Joshua B.; Walsh, Conor J.; Wood, Robert J.

doi:10.1109/icra.2016.7487203

Cited by 31 publications

(26 citation statements)

References 28 publications

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“…5 (h). Instead of a biasing spring, a novel manufacturing method was developed to enable the integration of thin elastomeric bladders within PCMEMS structure [22]. These bladders are filled with water to (a) assemble the sensor, (b) modulate the sensor stiffness which is proportional to the pressure in the bladder, and (c) improve the dielectric properties.…”

Section: Capacitance-based Force/position Sensingmentioning

confidence: 99%

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

Gafford

Ranzani²,

Russo³

et al. 2017

Journal of Medical Devices

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Recent advances in medical robotics have initiated a transition from rigid serial manipulators to flexible or continuum robots capable of navigating to confined anatomy within the body. A desire for further procedure minimization is a key accelerator for the development of these flexible systems where the end goal is to provide access to the previously inaccessible anatomical workspaces and enable new minimally invasive surgical (MIS) procedures. While sophisticated navigation and control capabilities have been demonstrated for such systems, existing manufacturing approaches have limited the capabilities of millimeter-scale end-effectors for these flexible systems to date and, to achieve next generation highly functional end-effectors for surgical robots, advanced manufacturing approaches are required. We address this challenge by utilizing a disruptive 2D layer-by-layer precision fabrication process (inspired by printed circuit board manufacturing) that can create functional 3D mechanisms by folding 2D layers of materials which may be structural, flexible, adhesive, or conductive. Such an approach enables actuation, sensing, and circuitry to be directly integrated with the articulating features by selecting the appropriate materials during the layer-by-layer manufacturing process. To demonstrate the efficacy of this technology, we use it to fabricate three modular robotic components at the millimeter-scale: (1) sensors, (2) mechanisms, and (3) actuators. These modules could potentially be implemented into transendoscopic systems, enabling bilateral grasping, retraction and cutting, and could potentially mitigate challenging MIS interventions performed via endoscopy or flexible means. This research lays the ground work for new mechanism, sensor and actuation technologies that can be readily integrated via new millimeter-scale layer-by-layer manufacturing approaches.

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Section: Capacitance-based Force/position Sensingmentioning

confidence: 99%

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

Gafford

Ranzani²,

Russo³

et al. 2017

Journal of Medical Devices

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show abstract

“…To date soft robotic systems have typically operated at centimeter or larger scales, largely limited by the fabrication processes involved in their manufacture. However, there is growing demand for smaller, more precise and more dexterous soft robotic systems which can address challenges in diverse areas including healthcare and search and rescue [1][2][3]. Thus, the development of new high-precision fabrication techniques is crucial to support the advancement and expansion of soft robotics.…”

Section: Introductionmentioning

confidence: 99%

Thin soft layered actuator based on a novel fabrication technique

Kow

Culmer

2018

2018 IEEE International Conference on Soft Robotics (RoboSoft)

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“…We exploit the emerging technology of pop-up MEMS [3] in order to fabricate a collapsible anchoring mechanism. Origami-inspired engineering and pop-up MEMS manufacturing techniques have previously been used for developing disposable and lowcost medical tools and devices [4]. The pop-up anchor can be deployed into the left ventricle (LV) via a standard delivery sheath.…”

Section: Introductionmentioning

confidence: 99%

Pop-Up-Inspired Design of a Septal Anchor for a Ventricular Assist Device

Temel

McClintock

Wamala

et al. 2017

2017 Design of Medical Devices Conference

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Heart failure (HF) is a serious condition in which the heart cannot pump sufficient blood to sustain the metabolic needs of the body. A common indication of failure is a low ejection fraction, or the volumetric proportion of blood ejected when the ventricle contracts. In end-stage HF, support from a ventricular assist device (VAD) can assume some or all of the heart’s pumping work, improving the ejection fraction and restoring normal circulation. VAD therapy options for end-stage right heart failure (RHF) are limited, with only a few FDA-approved devices available for mechanical circulatory support [1]. These devices are based on continuous flow impellers; and despite anticoagulation therapy, use of currently available VADs is associated with thrombogenic risk since the blood must contact artificial non-biologic surfaces. An implantable VAD for RHF based on soft robotic pulsatile assistance has previously been proposed [2]. This device is comprised of a contractile element that is anchored to the ventricular septum and the right ventricle (RV) free wall. The device is programmed to contract in synchrony with the native heart beat and assist in approximating the septum and free wall together in order to augment blood ejection (Fig. 1). Potential advantages of this approach include reduced risk of thrombosis, since there is no blood flow through the lumen of the device, and the possibility for minimally invasive deployment of the device under ultrasound guidance. A key component in this VAD concept is the anchoring mechanism that couples the contractile actuator to the ventricular septum. In this work, we report design, fabrication and testing of a new septal anchor design. We exploit the emerging technology of pop-up MEMS [3] in order to fabricate a collapsible anchoring mechanism. Origami-inspired engineering and pop-up MEMS manufacturing techniques have previously been used for developing disposable and low-cost medical tools and devices [4]. The pop-up anchor can be deployed into the left ventricle (LV) via a standard delivery sheath. We validate the load bearing ability of the anchor and demonstrate deployment in an ex vivo simulation.

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Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures

Cited by 31 publications

References 28 publications

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

Thin soft layered actuator based on a novel fabrication technique

Pop-Up-Inspired Design of a Septal Anchor for a Ventricular Assist Device

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