MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape

Bernth, Julius E.; Zhang, Guokai; Malas, Dionysios; Abrahams, George; Hayee, Bu; Liu, Hongbin

doi:10.1089/soro.2023.0096

Soft Robotics

2024

DOI: 10.1089/soro.2023.0096

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MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape

Julius E. Bernth,

Guokai Zhang,

Dionysios Malas

et al.

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2024

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Cited by 3 publications

References 103 publications

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Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing

Malas,

Zhang,

Wang

et al. 2024

Soft Robotics

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Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing

Malas,

Zhang,

Wang

et al. 2024

Soft Robotics

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A Novel Pneudraulic Actuation Method to Enhance Soft Robot Control

Malas,

Wang,

Huang

et al. 2024

Soft Robotics

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A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots

Sayahkarajy,

Witte

2024

Biomedical Engineering / Biomedizinische Technik

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Objectives This research investigates designing a continuum soft robot and proposing a kinematic matching control to enable the robot to perform a specified medical task, which in this paper is the transesophageal echocardiography (TEE). Methods A multi-chamber soft robot was designed and fabricated based on the molding of separate layers. The method of transformation matrices was used to develop the kinematic models, and a control method using Jacobian matrices was proposed to manipulate the robot. Results A prototype was made based on a multi-chamber multi-layer design. The system contains three segments that can be actuated independently to mimic the active bending part of the respective probe. Kinematic models were developed. Negative pressure (vacuum) was used as actuation input. An open-loop controller inspired by a redundancy resolution technique was proposed to make the soft robot tip follow the desired path, i.e. the path of the rigid ultrasound probe. Conclusions It is concluded that the soft solution can perform the required task as the reachable points of the TEE tip cover the proposed robot workspace and the proposed control can be used for maneuvering in arbitrary trajectories.

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MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape

Cited by 3 publications

References 103 publications

Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing

Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing

A Novel Pneudraulic Actuation Method to Enhance Soft Robot Control

A multi-chamber soft robot for transesophageal echocardiography: continuous kinematic matching control of soft medical robots

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