Soft Robotic Deployable Origami Actuators for Neurosurgical Brain Retraction

Amadeo, Tomas; Lewen, Daniel Van; Janke, Taylor; Ranzani, Tommaso; Devaiah, Anand K.; Upadhyay, Urvashi; Russo, Sheila

doi:10.3389/frobt.2021.731010

Cited by 14 publications

(8 citation statements)

References 48 publications

(64 reference statements)

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“…There are structures in existing works that combine hard modules with soft chambers, designed as a robotic arm [ 36 ] or actuators for neurosurgical brain retraction applications. [ 37 ] Zhang et al [ 38 ] expand the DOF of the Kresling origami unit by adding rigid shells to the pneumatic chamber on the side of the origami unit. Soft chambers are combined with springs to reinforce the linearity of the chamber.…”

Section: Introductionmentioning

confidence: 99%

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Liu,

Yang

et al. 2024

Advanced Intelligent Systems

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The fluid‐transportation functions based on the volume‐regulating behavior of the chamber‐like organs inspire the development of artificial organs. Due to the intrinsic compliance of soft robotics for biomimicking purposes and the volume‐regulation capability of the 3D origami patterns, the soft robots with origami patterns show promising potential in such research. However, the folding deformation of the origami facets cannot be straightforwardly implemented as the actuation or the body movement, and the predetermined movements of the pattern limit the appropriate functions for specific applications. In this work, an origami‐patterned rigidification (OPR) method is proposed for applying rigid origami mechanisms (herein, the cuboctahedron origami ball) to the chamber‐like structure of soft robots. The motion of the soft robot is programmed by purposefully rigidified the soft chamber following the pattern. The resultant OPR structures are granted with functions corresponding to the predetermined motion of the pattern, and the expanded movements through the bifurcation brought by the soft–rigid characteristics. The concept, design, and fabrication of the OPR robot are presented. By analyzing the deformation of the soft creases, the kinematic models of the predetermined and expanded degrees of freedom are presented and verified by experiments. The extended functions of two OPR robots are demonstrated.

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Section: Introductionmentioning

confidence: 99%

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Liu,

Yang

et al. 2024

Advanced Intelligent Systems

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“…[ 37 ] Origami actuators can utilize this compliance in tool–tissue interactions, such as brain retraction, where controlled, radial expansion has been shown to move the tissue with a safe level of force and simultaneously create defined working channels. [ 38 ] A Sarrus linkage robot for endoscopy demonstrates the ability of a foldable mechanism to deploy a needle for tissue biopsy by compressing the linkage once the capsule reaches the target area in the stomach. [ 39 ] Similarly, the combination of 2D layer‐by‐layer fabrication processes with micromanufactured, elastomeric actuators has resulted in surgical retraction tools that can be integrated with traditional endoscopes to provide more dexterity near the target area.…”

Section: Introductionmentioning

confidence: 99%

A Millimeter‐Scale Soft Robot for Tissue Biopsy Procedures

Lewen

Janke

Lee

et al. 2023

Advanced Intelligent Systems

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To continue pushing the boundaries of healthcare, surgeons look to new tools that will help them perform quicker procedures and do so with the least amount of postprocedure trauma to the patient. [1] Safe interaction with healthy tissue is of great importance when it comes to regions of the body, such as the lungs or the brain, which require low-force interactions during surgery. [2] Minimally invasive surgery (MIS) has become a common technique in these regions of the body for its benefits of less patient pain, quicker recovery times, and less scarring. [3][4][5] Lung cancer is estimated to cause 130 180 deaths in the United States in 2022, continuing to make it the leading cause of cancer-related deaths. [6,7] Traditionally, a flexible bronchoscope is guided to the tumor site to perform tissue biopsy; however, there remains significant variability in diagnostic accuracy from 36% to 88%. Furthermore, the standard % 6mm diameter of the scope diminishes the capabilities of this technique as the majority of lesions lie in the periphery of the lung accessed only by small airways beyond the bronchoscope's reach. [8] The breathing motion, associated with normal bodily function, may contribute to variation in accuracy, changing the position of the target area throughout the entire procedure by an average of 17.6 mm depending on its location in the lungs. [9] This affects the diagnostic yield of the procedure to different degrees, with yields as low as 13.5% being common for tumors smaller than 2 cm. [9] Ultrathin, manually driven scopes have been developed at % 3mm diameters to reach deeper in the lungs; however, they require a flexible needle to be used in their single working channel, which sacrifices force transmission for the dexterity necessary to reach deeper into the lung. [10] To address the shortcomings of those traditional MIS techniques, advancements in robotic tools have been introduced over the past decade. [11] Continuum robots are employed for this task due to their added dexterity and ease of scaling. [12] Commercial platforms have been developed with these robots, such as the Auris Monarch (Auris Health Inc. CA, USA), Ion Endoluminal System (Intuitive Surgical CA, USA), Noah Medical Galaxy (Noah Medical, CA, USA), and Illumisite (Medtronic MN, USA) for bronchoscopies, and have eased procedures with image-guided teleoperation, alleviating the physical effort required by surgeons. [11,13,14] Commercial systems like these have proven scalability with diameters of 4.2 mm for the Monarch and 3.5 mm for the Ion and Noah Medical Galaxy (Noah Medical, CA, USA). [15] Concentric tube robots have been developed using individually controlled, precurved tubes as an easily scaled alternative that can transmit sufficient forces due to the use of metal materials. [16][17][18] Soft robots have recently been introduced as an alternative to traditional MIS robots due to their advantages of inherently safe

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“…Key features include minimization of stress concentrations by conforming to delicate structures and the ability to fit into apertures smaller than their nominal size. Exploiting these benefits, soft robots have been successfully introduced for endovascular navigation (18)(19)(20)(21)(22), cardiac operation (23)(24)(25)(26), neurosurgery (13,27,28), lung surgery (29)(30)(31), and endoscopy (32)(33)(34)(35).…”

Section: Introductionmentioning

confidence: 99%

A multifunctional soft robot for cardiac interventions

Rogatinsky,

Recco,

Feichtmeier

et al. 2023

Sci. Adv.

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In minimally invasive endovascular procedures, surgeons rely on catheters with low dexterity and high aspect ratios to reach an anatomical target. However, the environment inside the beating heart presents a combination of challenges unique to few anatomic locations, making it difficult for interventional tools to maneuver dexterously and apply substantial forces on an intracardiac target. We demonstrate a millimeter-scale soft robotic platform that can deploy and self-stabilize at the entrance to the heart, and guide existing interventional tools toward a target site. In two exemplar intracardiac procedures within the right atrium, the robotic platform provides enough dexterity to reach multiple anatomical targets, enough stability to maintain constant contact on motile targets, and enough mechanical leverage to generate newton-level forces. Because the device addresses ongoing challenges in minimally invasive intracardiac intervention, it may enable the further development of catheter-based interventions.

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Soft Robotic Deployable Origami Actuators for Neurosurgical Brain Retraction

Cited by 14 publications

References 48 publications

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

Origami‐Patterned Rigidification for Soft Robotic Bifurcation

A Millimeter‐Scale Soft Robot for Tissue Biopsy Procedures

A multifunctional soft robot for cardiac interventions

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