Steerable catheters for minimally invasive surgery: a review and future directions

Hu, Xiaohua; Chen, Ang; Luo, Yigang; Zhang, Chris; Zhang, Edwin

doi:10.1080/24699322.2018.1526972

Cited by 121 publications

(62 citation statements)

References 128 publications

(151 reference statements)

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“…[ 12,13 ] Many soft robots have a biologically inspired design coming from snakes, [ 14–17 ] worms, [ 18–20 ] fishes, [ 21–24 ] manta rays, [ 25,26 ] and tentacles. [ 27–29 ] The scope of applications includes minimally invasive surgery, [ 30,31 ] rehabilitation, [ 32,33 ] elderly assistance, [ 34 ] safe human–robot interaction, [ 35,36 ] and handling of fragile materials. [ 37,38 ] Important features of soft robotics design, fabrication, modeling, and control are covered in the soft robotics toolkit.…”

Section: Introductionmentioning

confidence: 99%

Finite Element Modeling of Soft Fluidic Actuators: Overview and Recent Developments

Xavier

Fleming

Yong

2020

Advanced Intelligent Systems

169

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Soft robotics has experienced an exponential growth in publications in the last two decades. [1] Unlike rigid conventional manipulators, [2,3] soft robots based on hydrogels, [4,5] electroactive polymers, [6,7] and elastomers [7-9] are physically resilient and can adapt to delicate objects and environments due to their conformal deformation. [10,11] They also show increased safety and dexterity can be lightweight and used within constrained environments with restricted access. [12,13] Many soft robots have a biologically inspired design coming from snakes, [14-17] worms, [18-20] fishes, [21-24] manta rays, [25,26] and tentacles. [27-29] The scope of applications includes minimally invasive surgery, [30,31] rehabilitation, [32,33] elderly assistance, [34] safe human-robot interaction, [35,36] and handling of fragile materials. [37,38] Important features of soft robotics design, fabrication, modeling, and control are covered in the soft robotics toolkit. [39,40] The building blocks of soft robots are the soft actuators. The most popular category of soft actuator is the soft fluidic actuator (SFA), where actuation is achieved using hydraulics or pneumatics. [8,41] These actuators are usually fabricated with silicone rubbers following a 3D molding process, [42] although directly 3D printing the soft actuators is also possible. [43,44] Silicone rubber is a highly flexible/extensible elastomer with high-temperature resistance, lowtemperature flexibility, and good biocompatibility. [45] Elastomers can withstand very large strains over 500% with no permanent deformation or fracture. [46] For relatively small strains, simple linear stress-strain relationships can be used, and two of the following parameters can be used to describe the elastic properties: bulk compressibility, shear modulus, tensile modulus (Young's modulus of elasticity), or Poisson's ratio. [45] For large deformations, nonlinear solid mechanic models using hyperelasticity should be considered. [8,32,47-50] Due to the strong nonlinearities in SFAs and their complex geometries, analytical modeling is challenging. [51] A brief review of the analytical methods for modeling of soft robotic structures is provided in the following. 1.1. Analytical Modeling of Soft Actuators The majority of soft/continuum robots with bending motion can be approximated as a series of mutually tangent constant curvature sections, i.e., piecewise constant curvature. [52] This is a result of the fact that the internal potential energy is uniformly distributed along each section for pressure-driven robots. [53] This approach has also been validated using Hamilton's principle by Gravagne et al. [54] As discussed by Webster and Jones, [52] the kinematics of continuum robots can be separated into robotspecific and robot-independent components in this approach. The robot specific mapping transforms the input pressures P or actuator space q to the configuration space κ, ϕ, l, and the robot-independent mapping goes from the configuration space to the task space x. The actuator space contai...

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Section: Introductionmentioning

confidence: 99%

Finite Element Modeling of Soft Fluidic Actuators: Overview and Recent Developments

Xavier

Fleming

Yong

2020

Advanced Intelligent Systems

169

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“…As a result, an ultrathin wall of 300 μm is obtained, which is the thinnest wall among all reported continuum tendon‐driven robots. [ 22 ] Moreover, the large inner‐to‐outer ratio, i.e., 0.8, grants the robot high superiority in encapsulating versatile small surgical tools while maintaining a tiny size (Figure 1b). Meanwhile, the hollow skeleton allows the robot to easily achieve a large bending motion while keeping enough stiffness.…”

Section: Resultsmentioning

confidence: 99%

Millimeter‐Scale Soft Continuum Robots for Large‐Angle and High‐Precision Manipulation by Hybrid Actuation

Zhang

Yang

et al. 2020

Advanced Intelligent Systems

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Developing small‐scale soft continuum robots with large‐angle steering capacity and high‐precision manipulation offers broad opportunities in various biomedical settings. However, existing continuum robots reach the bottleneck in actuation on account of the contradiction among small size, compliance actuation, large tender range, high precision, and small dynamic error. Herein, a 3D‐printed millimeter‐scale soft continuum robot with an ultrathin hollow skeleton wall (300 μm) and a large inner‐to‐outer ratio (0.8) is reported. After coating a thin ferromagnetic elastomer layer (≈100–150 μm), the proposed soft continuum robot equipped with hybrid actuation (tendon‐ and magnetic‐driven mode) achieves large‐angle (up to 100°) steering and high‐precision (low to 2 μm for static positioning) micromanipulation simultaneously. Specifically, the robot implements an ultralow dynamic tracking error of ≈10 μm, which is ≈30‐fold improved than the state of art. Combined with a microneedle/knife or nasopharyngeal swab, the robot reveals the potential for versatile biomedical applications, such as drug injection on the target tissue, diseased tissue ablation, and COVID‐19 nasopharyngeal sampling. The proposed millimeter‐scale soft continuum robot presents remarkable advances in large‐range and high‐precise actuation, which provides a new method for miniature continuum robot design and finds broad applications in biomedical engineering.

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“…They are regarded as an essential part of various surgical procedures 1–3 . The increasing incidence of cardiovascular, endocrine and urinary diseases, as well as the development of minimally invasive surgical techniques, have led to the continued growth of the market for medical catheters 4,5 . However, owing to several reasons, the development of the medical catheter market has also been limited.…”

Section: Introductionmentioning

confidence: 99%

“…[1][2][3] The increasing incidence of cardiovascular, endocrine and urinary diseases, as well as the development of minimally invasive surgical techniques, have led to the continued growth of the market for medical catheters. 4,5 However, owing to several reasons, the development of the medical catheter market has also been limited. One is that the surface lubrication performance of the instrument exhibit poor surface lubrication, which aggravates the friction between the catheter and the tissue, causing tissue damage and aggravating the adhesion of cells and proteins, resulting in thrombosis.…”

Section: Introductionmentioning

confidence: 99%

A novel cationic waterborne polyurethane coating modified by chitosan biguanide hydrochloride with application potential in medical catheters

Liu

Zou

Wang

et al. 2020

J of Applied Polymer Sci

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This study reported the synthesis and properties of a new cationic waterborne polyurethane coating. In this work, a chitosan derivative, chitosan biguanide hydrochloride (CSGH), was synthesized, which was used as a blocking agent and cross‐linking agent to participate in the copolymerization of waterborne polyurethane (WPU) and a bioactive ingredient to enhance the biocompatibility of the coating. FTIR results demonstrated the reaction of CSGH with WPU. Moreover, the particle size distribution of the emulsion and SEM results showed that CSGH and WPU were well integrated. Benefiting from the formation of the cross‐linking network, the thermodynamic properties of the coating were significantly improved. Furthermore, due to adding 3 wt% CSGH, the water contact angle of the coating surface decreased from 97.01° to 69.30°, indicating that the coating surface changed from hydrophobic to hydrophilic. And a specific resistance to Staphylococcus aureus and Escherichia coli was exhibited without cytotoxicity, the resistance rates could reach 85% and 91% respectively. It is highlighted that this WPU‐CSGH coating has great application potential in the field of medical interventional catheters.

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Steerable catheters for minimally invasive surgery: a review and future directions

Cited by 121 publications

References 128 publications

Finite Element Modeling of Soft Fluidic Actuators: Overview and Recent Developments

Finite Element Modeling of Soft Fluidic Actuators: Overview and Recent Developments

Millimeter‐Scale Soft Continuum Robots for Large‐Angle and High‐Precision Manipulation by Hybrid Actuation

A novel cationic waterborne polyurethane coating modified by chitosan biguanide hydrochloride with application potential in medical catheters

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