Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Campisano, Federico; Remirez, Andria A.; Landewee, Claire A.; Caló, Simone; Obstein, Keith L.; Webster, Robert J.; Valdastri, Pietro

doi:10.1109/lra.2020.3013900

Cited by 18 publications

(11 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…[7] Due to their high structural compliance (similar to that of soft tissues), interaction forces are limited, and passive anatomical conformation is possible. Soft robots intrinsically actuated via pneumatics [8,9] or hydraulics [10] have proven successful for endoscopic applications. However, due to the requirement for onboard actuation chambers and tubing connections, scaling designs down comes at the cost of reducing controllable degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities

Koszowska

Brockdorff

Veiga

et al. 2023

Advanced Intelligent Systems

Self Cite

View full text Add to dashboard Cite

Soft magnetic manipulators offer the prospect of improved surgical outcomes through their potential for miniaturization and inherently safe tissue interaction. However, independent actuation of multiple manipulators within the same confined workspace is limited by undesired simultaneous actuation and manipulator–manipulator interactions. Herein, for the first time, approaches for the independent magnetic actuation of two magnetic continuum manipulators within the same confined workspace are proposed. A novel modular magnetic soft robot segment design is proposed with modified geometry to provide preferential bending planes and high angles of deflection. This design is integrated into two dual‐segment magnetic manipulators which, when arranged in parallel, can deliver independent bending in two planes of motion. Two distinct independent control strategies are proposed, based on orthogonal manipulator magnetization profiles and local field gradient control, respectively. Each dual‐manipulator configuration is characterized over a sequence of applied magnetic fields and gradients, induced via a dual robotically controlled external permanent magnet system. Manipulator independence, bending range of motion, and twisting behaviors are evaluated as a function of control strategy and manipulator separation distance. To demonstrate the system's potential in clinical scenarios, a dual‐manipulator configuration is adapted to carry an endoscopic camera and optic fiber, respectively. The resultant bimanual system is deployed in the confined anatomy of a skull‐base phantom to simulate minimally invasive ablation of a pituitary adenoma. Independent motion of the camera and tool within the confined workspace demonstrate the potential for an independent magnetic tool manipulation for surgical applications.

show abstract

Section: Introductionmentioning

confidence: 99%

Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities

Koszowska

Brockdorff

Veiga

et al. 2023

Advanced Intelligent Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…Some of these robots are commercially available. Continuum robots are also suitable for surgery tasks [6], [7] because they can enter the human body through small, minimally-invasive holes.…”

Section: Introductionmentioning

confidence: 99%

“…The thrust generated by fluid jets is used to control the shape. For example, a long continuum robot whose head is controlled by three water jets has been developed; this robot can be used for the inspection of nuclear power plant [13] and surgical applications [6], [7]. Similarly, an idea of long flying hose for firefighting was proposed, and the jet nozzle was developed [14].…”

Section: Introductionmentioning

confidence: 99%

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

et al. 2022

View full text Add to dashboard Cite

Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for extinguishing fires. The main challenge in implementing large shape deformations is accommodating the twisting of the body that results from the deformation. To address this problem, we proposed a two-dimensional passive rotating nozzle unit that can expand the directionality of net force against torsion; however, it has not yet been tested on a flying robot. In this study, we achieved the large shape deformations of a jet-actuated flying continuum robot using an improved passive rotating nozzle unit that can handle three-dimensional (3D) force. First, we developed a model of the improved nozzle unit and confirmed that the unit can increase the net force direction. Herein, the design strategy for the rotary damper to handle the instability that arises from motor limitations is discussed. The stabilized flight controller was applied to a continuum robot with the nozzle unit. Simulation results showed that the 2 m robot could perform large head bends (from 0 • to 135 • ). Although the previous fixed nozzle unit twisted by approximately 40 • , which made the extra movable range of the nozzles effectively zero, the proposed nozzle unit maintained the movable range to avoid twisting. We experimentally confirmed that the nozzle unit can expand the direction of the 3D net force, and that a large shape bending of approximately ±90 • can be achieved using a 1.6 m flying robot.INDEX TERMS Fluid jet, continuum robot, mechanism design, dynamics.

show abstract

“…The large number of DOFs poses a key difficulty in motion control and trajectory planning of medical manipulators. Therefore, many experts and scholars have attempted to balance the DOF, accuracy, flexibility, and jitter suppression of medical manipulators [20][21][22][23]. Based on the topology of constrained space, Wilkening et al [24] modelled the DOFs of a flexible medical manipulator, and designed the structure of a variable rigidity medical manipulator, capable of multi-DOF motions and effective lock-up.…”

Section: Introductionmentioning

confidence: 99%

A Trajectory Planning Algorithm for Medical Manipulators Based on Adaptive Particle Swarm Optimization and Fuzzy Neural Network

Gao¹,

Pan²

2020

JESA

View full text Add to dashboard Cite

With the development of smart healthcare, surgical and rehabilitation robots have permeated into daily medical operations. This raises concerns over the trajectory planning of medical manipulators. Based on particle swarm optimization (PSO) algorithm and fuzzy neural network (FNN), this paper puts forward a trajectory planning algorithm for medical manipulators, which ensures that the target medical manipulator can suppress the residual jitter at the end, while meeting the requirements of high precision, flexible operation, and disturbance resistance. Specifically, a kinetic model was constructed for a medical manipulator of multi-degrees-of-freedoms (DOFs) through position and posture transforms, and used to construct an FNN for trajectory planning. To suppress the jitter at the end, an adaptive PSO algorithm was designed, and combined with the FNN into a trajectory planning algorithm called PSO neural network (PSONN) algorithm. Finally, the proposed algorithm was proved effective through experiments. The research results provide the reference for applying PSO algorithm and FNN in other fields.

show abstract

Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy

Cited by 18 publications

References 24 publications

Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities

Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

A Trajectory Planning Algorithm for Medical Manipulators Based on Adaptive Particle Swarm Optimization and Fuzzy Neural Network

Contact Info

Product

Resources

About