A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy

Bernth, Julius E.; Arezzo, Alberto; Liu, Hongbin

doi:10.1109/lra.2017.2678540

Cited by 64 publications

(59 citation statements)

References 18 publications

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“…With the help of the visual feedback from MRI, the problem of endoscope localization can be tackled. This approach has been used by MINIR to localize the robot . Another solution for localization can be using position sensor like in NeoGuide; however, this sensor might interfere with MRI.…”

Section: Discussion: Advances and Challenges Of Recent Designsmentioning

confidence: 99%

“…The Meshworm design developed by Bernth et al was inspired by earthworm . The endoscope is specifically designed for colonoscopy application.…”

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

confidence: 99%

“…The materials utilized in biosoft robotics usually are biocompatible meaning that they are safe to be used inside human body (eg, silicon elastomer). Besides, the amorphous or flexible soft materials allow development of bendable endoscopes with less risk of damaging delicate soft tissues such as the wall of the colon . By manipulating either intrinsic Young modulus or actuating a pair of antagonistic actuator of soft robots in different ways, stiffness of the soft robots can also be tuned …”

Section: Introductionmentioning

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%

“…the wall of the colon. 2 By manipulating either intrinsic Young modulus or actuating a pair of antagonistic actuator of soft robots in different ways, stiffness of the soft robots can also be tuned. 3 Several articles have reviewed the medical robotics for MIS applications (eg, [4][5][6][7][8][9][10][11][12] ) most of which are outdated.…”

mentioning

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: Discussion: Advances and Challenges Of Recent Designsmentioning

confidence: 99%

“…The Meshworm design developed by Bernth et al was inspired by earthworm . The endoscope is specifically designed for colonoscopy application.…”

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

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

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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A Sleeve Alters the Pressure‐Stretch Curve of a Hyperelastic Balloon to Enable Pre‐Programmed Sequencing

Gertler,

Kuchenbecker

2024

Adv Materials Technologies

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Coupled hyperelastic balloons that anchor alternately against a lumen wall provide an appealing locomotion method for soft robots, especially for pipe inspection and medical interventions. However, it is still challenging to use a single fluid channel to obtain a practical balloon actuation sequence, where the rear anchor is both the first to inflate and the first to deflate. The common solution delays the front balloon's reaction using fluid dynamics, producing a slow and/or bulky system. This study presents a new method that utilizes an inextensible sleeve along with geometry and mechanical properties to set the pressure‐stretch curve of two silicone‐rubber balloons so they can serve as the rear and front anchors when driven from a single fluid supply. Experimental measurements and numerical simulations compare the characteristic curves of thin and thick spherical balloons with identical diameters to that of a thin balloon inside a rigid encasing sleeve that delays its initial expansion. Pairing this encased thin balloon with a non‐encased thick balloon yields the desired asymmetric actuation sequence. A physical demonstration of the behavior needed for self‐propelling robots is achieved by placing such balloons within rigid tubes, connecting them to a shared supply, and sequentially adding and removing fluid.

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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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A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy

Cited by 64 publications

References 18 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

A Sleeve Alters the Pressure‐Stretch Curve of a Hyperelastic Balloon to Enable Pre‐Programmed Sequencing

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

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