Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot

Kim, Yeongjin; Cheng, Shing Shin; Diakité, Mahamadou; Gullapalli, Rao P.; Simard, J. Marc; Desai, Jaydev P.

doi:10.1109/tro.2017.2719035

Cited by 98 publications

(53 citation statements)

References 31 publications

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“…Two configurations of tendon routing in continuum robot A, and schematic of the forces acting in base disk when distal disk is bent according to cable routing of the second configuration B…”

Section: State‐of‐the‐art Robotics Technology For Endoscopic Applicationmentioning

confidence: 99%

“…The use of this plastic material enables the robot to be used in MR environment. The MR compatibility has been tested in gelatin slab inside MR environment, and the signal‐to‐noise ratio (SNR) drop is only 6.4% …”

Section: State‐of‐the‐art Robotics Technology For Endoscopic Applicationmentioning

confidence: 99%

“…After reviewing the current designs, a new concept for endoscopic surgery which is remote endoscopic operation under MRI‐based guidance seems to be promising . An MR‐compatible soft robotics endoscope enables the surgeon to perform the surgery while the patient is inside MR scanner.…”

Section: Concept For Future Soft Endoscope Designmentioning

confidence: 99%

“…MINIR robot designed by Kim et al is used for endoscopy neurosurgery, especially to remove brain tumors. 15 The advantage of endoscopy in brain operation is very clear: It avoids making hole in the skull and going through sensitive area in the brain. The surgeons can insert the neuroendoscope tools through mouth or nose of the patient.…”

Section: Minimally Invasive Neurosurgical Intracranial Robotmentioning

confidence: 99%

“…Subsequently, we have a brief review at how biology has inspired the development of soft robotics followed by some highlights on current soft robotics technology in actuation, sensing, and control. Several state‐of‐the‐art conventional and soft robotics technology in surgical endoscopy are reviewed, including Invendoscopy, NeoGuide, minimally invasive neurosurgical intracranial robot (MINIR), Meshworm, and developments in the European project titled “Stiffness Controllable Flexible and Learnable Manipulator for Surgical Operation” (STIFF‐FLOP) . New concept and design specifications for future soft endoscope are eventually discussed, based on the challenge in endoscope instruments, state‐of‐the‐art surgical endoscope, and possibilities enabled by soft robotics technology.…”

Section: Introductionmentioning

confidence: 99%

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A review on recent advances in soft surgical robots for endoscopic applications

Gifari

Beidokhti

Stramigioli

et al. 2019

Robotics Computer Surgery

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Background Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called “soft robotics” emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical instrument inside human body is still in its infancy. Aims In this paper, current application and design of soft robots specifically applied for endoscopy are reviewed. Materials & Methods Different aspects in the implementation of soft robotics in endoscope design were reviewed. The key studies about MIS and NOTES were reviewed to establish the clinical background and extract the limitations of current endoscopic device in the last decade. Results and discussion In this review study, the implementation of soft robotics concepts in endoscopic application, with highlights on different features of several soft endoscopes, were evaluated. The progress in different aspects of soft robotics endoscope, current state, and future perspectives were also discussed. Conclusion Based on the survey on the structural specification, actuation, sensing, and stiffening the future soft surgical endoscopes are recommended to fulfil the following specifications: safe especially from pressure leakage, fully biocompatible materials, MR‐compatible, capable for large bending in at least two antagonistic directions, modularity, adjustable stiffness.

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Section: State‐of‐the‐art Robotics Technology For Endoscopic Applicationmentioning

confidence: 99%

Section: State‐of‐the‐art Robotics Technology For Endoscopic Applicationmentioning

confidence: 99%

Section: Concept For Future Soft Endoscope Designmentioning

confidence: 99%

Section: Minimally Invasive Neurosurgical Intracranial Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A review on recent advances in soft surgical robots for endoscopic applications

Gifari

Beidokhti

Stramigioli

et al. 2019

Robotics Computer Surgery

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Materials with Electroprogrammable Stiffness

Levine

Turner

2021

Advanced Materials

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Stiffness is a mechanical property of vital importance to any material system and is typically considered a static quantity. Recent work, however, has shown that novel materials with programmable stiffness can enhance the performance and simplify the design of engineered systems, such as morphing wings, robotic grippers, and wearable exoskeletons. For many of these applications, the ability to program stiffness with electrical activation is advantageous because of the natural compatibility with electrical sensing, control, and power networks ubiquitous in autonomous machines and robots. The numerous applications for materials with electrically driven stiffness modulation has driven a rapid increase in the number of publications in this field. Here, a comprehensive review of the available materials that realize electroprogrammable stiffness is provided, showing that all current approaches can be categorized as using electrostatics or electrically activated phase changes, and summarizing the advantages, limitations, and applications of these materials. Finally, a perspective identifies state‐of‐the‐art trends and an outlook of future opportunities for the development and use of materials with electroprogrammable stiffness.

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Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Zhu

Lyu

et al. 2021

Advanced Intelligent Systems

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Endowed with the expected visions for future surgery, minimally invasive surgery (MIS) has become one of the most rapid developing areas in modern surgery. Soft robotics, which originates from interdisciplinary advances in materials, fabrication, and electronics, featuring better adaptability and safer interaction, holds great promises in addressing current technical challenges in MIS, which are difficult to be solved with current rigid robotic technologies. For the first time, herein, the expected characteristics of next-generation MIS from the surgeons' perspectives are analyzed and the recent progress of soft surgical instruments from three different aspects is comprehensively summarized: engineering design, fabrication techniques, and human-robot interaction. Perspectives of nextgeneration soft surgical robots are then discussed, where some exciting possibilities are emphasized. It is believed that further developments of intelligent soft robotics enable the next-generation MIS to agilely navigate to the target and conduct dexterous diagnostic or therapeutic procedures without any trade-offs in invasiveness and ultimately be a propitious solution for future surgery.

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Toward the Development of a Flexible Mesoscale MRI-Compatible Neurosurgical Continuum Robot

Cited by 98 publications

References 31 publications

A review on recent advances in soft surgical robots for endoscopic applications

A review on recent advances in soft surgical robots for endoscopic applications

Materials with Electroprogrammable Stiffness

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

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