Characterization, Simulation and Control of a Soft Helical Pneumatic Implantable Robot for Tissue Regeneration

Perez-Guagnelli, Eduardo; Jones, J. D.; Tokel, Ahmet H.; Herzig, Nicolas; Jones, Bernard J. T.; Miyashita, Shuhei; Damian, Dana D.

doi:10.1109/tmrb.2020.2970308

Cited by 20 publications

(19 citation statements)

References 35 publications

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“…The actual validation of the effect of the flexible robot on tissues and measurement of robot-tissue interface forces will be carried out in vivo as future work. Although our group is currently investigating a completely soft robotic implant [20], the flexible implant is closer to clinical translation. While we envisage that the current FEIR can be implanted in eight-year old patients [16], miniaturisation will broaden the application of the device.…”

Section: Discussionmentioning

confidence: 99%

Flexible and Expandable Robot for Tissue Therapies – Modeling and Design

Atwya

Kavak

Alisse

et al. 2021

IEEE Trans. Biomed. Eng.

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Section: Discussionmentioning

confidence: 99%

Flexible and Expandable Robot for Tissue Therapies – Modeling and Design

Atwya

Kavak

Alisse

et al. 2021

IEEE Trans. Biomed. Eng.

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“…The physical platform could find broader applications in tissue engineering, control engineering and computer science as it enables the real-time simulation of viscoelastic tissue behaviors. Future developments include the use of the simulator in conjunction with the FRI to further study its fault-tolerant control strategy [3] and with soft implants [17], [18] to characterize their dynamic behavior.…”

Section: Discussionmentioning

confidence: 99%

“…1, that simulates both the mechanical properties of the tissue, as well as its growth. In previous works from our lab, we developed robotic implants that grow tubular organs, such as the esophagus or the intestine, by applying mechanostimulation [3], [5], [17], [18]. Both implants, when interacting with the organs, need to adapt the treatment based on the changing status of the tissue, which could show inflammation, scarring or fibrosis.…”

Section: Introductionmentioning

confidence: 99%

A Physical Soft Tissue Growth Simulator for Implantable Robotic Devices

Pontin

Damian

2020

IEEE Trans. Med. Robot. Bionics

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In the development of surgical technologies, one of the challenges in their initial validation has been the creation of accurate bench-top tissue phantoms. Tissue phantoms made of elastomeric material have fixed mechanical properties and are not able to increase in size, so they cannot mimic growth process or change in mechanical properties of their real counterparts. In this work we present a novel real-time soft tissue simulator aimed at testing the in vivo dynamic behavior of robotic implants. The simulator is capable of reproducing mechanical properties of the biological tissue, e.g. viscoelasticity, as well as its metabolism, being able to grow up to 260 mm. A control strategy based on impedance control enables the simulation of changing mechanical properties in real-time, in order to recreate conditions such as fibrosis or tissue scarring. We finally show the platform in use with a soft implant. The electric actuation in conjunction with the 500 Hz control loop frequency guarantees fast and accurate response. We believe our platform has the potential to reduce the need for in vivo preclinical studies and shorten the path to clinical experimentation.

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“…Soft robots are machines made of lightweight and highly compliant materials that can be customized to perform a wide range of functions such as locomotion [1] or gripping [2]. Given their compliance, hyperelasticity and inherent safety, soft robots are well-suited to be used in applications such as exoskeletons [3] and implants [4]. Soft actuators are the building blocks of soft robots that enable their motion.…”

Section: Introductionmentioning

confidence: 99%

Deflected Versus Preshaped Soft Pneumatic Actuators: A Design and Performance Analysis Toward Reliable Soft Robots

Perez-Guagnelli

Damian

2022

Soft Robotics

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Soft Pneumatic Actuators (SPAs) are customizable and conformable devices that enable desired motions in soft robots. Interactions with the environment or handling during their fabrication could introduce defects into SPAs that affect their performance. These defects could lead to high-stress concentrations in the SPAs body and heterogeneous, unrepeatable, or inconsistent expansion affecting their reliability. In this work, we aim to improve the reliability of soft robots by modeling and characterizing the performance of SPAs with widely used chamber shapes and cross-sectional geometries under variable loading conditions. We also compare their capacity to provide homogeneous, repeatable and time-wise consistent expansion with low-stress concentrations and provide a set of principles for the design of reliable SPAs. Expansion of SPAs with Straight chambers demonstrated to be more repeatable, with an average deviation of 0.06 mm and showed more than a thousand times less stress than any other chamber types. The expansion of preshaped SPAs with Helical chambers showed to be up to 500% more homogeneous and 300% more efficient than their deflected counterparts. SPAs with squared cross-sectional geometries displayed more than a 1000 times more time-wise consistent expansion over their circular counterparts. We conclude that SPAs that retain less potential energy or are less affected by its effects are more reliable. We derive these results into a set of principles for the design of reliable SPAs. These principles offer solutions to make informed decisions prior to fabrication to mitigate the most common reliability problems for SPAs and soft robots.

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Characterization, Simulation and Control of a Soft Helical Pneumatic Implantable Robot for Tissue Regeneration

Abstract: This is a repository copy of Characterization, simulation and control of a soft helical pneumatic implantable robot for tissue regeneration.

Cited by 20 publications

References 35 publications

Flexible and Expandable Robot for Tissue Therapies – Modeling and Design

Flexible and Expandable Robot for Tissue Therapies – Modeling and Design

A Physical Soft Tissue Growth Simulator for Implantable Robotic Devices

Deflected Versus Preshaped Soft Pneumatic Actuators: A Design and Performance Analysis Toward Reliable Soft Robots

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