Soft Robotic Manipulator for Improving Dexterity in Minimally Invasive Surgery

Diodato, Alessandro; Brancadoro, Margherita; Rossi, Giacomo De; Abidi, Syed Haider; Dall’Alba, Diego; Muradore, Riccardo; Ciuti, Gastone; Fiorini, Paolo; Menciassi, Arianna; Cianchetti, Matteo

doi:10.1177/1553350617745953

Cited by 48 publications

(28 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…22 and Shiva et al . 39 Actuation and variable stiffness mechanisms can be used together, for example, pneumatic actuation and granular jamming as in Li et al ., 35 Diodato et al ., 44 and Cianchetti et al . 45 or a cable-driven system used together with a layer jamming mechanism as in Kim et al .…”

Section: Resultsmentioning

confidence: 94%

Soft Robotics in Minimally Invasive Surgery

2019

View full text Add to dashboard Cite

Soft robotic devices have desirable traits for applications in minimally invasive surgery (MIS), but many interdisciplinary challenges remain unsolved. To understand current technologies, we carried out a keyword search using the Web of Science and Scopus databases, applied inclusion and exclusion criteria, and compared several characteristics of the soft robotic devices for MIS in the resulting articles. There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities. We propose a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.

show abstract

Section: Resultsmentioning

confidence: 94%

Soft Robotics in Minimally Invasive Surgery

2019

View full text Add to dashboard Cite

show abstract

“…Several groups citing the Raven system have developed complete or nearly complete surgical robotic systems [6][7][8][9][10][11][12]. These systems often address new surgical procedures (such as pediatric cases or needle guidance) [6,9,10] novel delivery modes [8] or integration of industrial manipulators into surgery [12] Numerous groups have developed new hardware influenced by the Raven design [12][13][14][15][16][17][18][19][20][21][22] or focused on numerical optimization of mechansims [23]. Key aspects of these designs are minimally invasive character, often making a contribution such as novel mechanisms for decoupling motion at the laparoscopic entry port [13], decoupling drive axes [16], or reducing weight and size [19].…”

Section: Research Citing Raven But Not Using Ravenmentioning

confidence: 99%

“…Novel mechanical design directions include integration with soft robotics [14], elbowed instrument design [20], mechanical decoupling design [13], and mechanical integration of novel force/torque sensors [19].…”

Section: Research Citing Raven But Not Using Ravenmentioning

confidence: 99%

The Raven Open Surgical Robotic Platforms: A Review and Prospect

2019

APH

View full text Add to dashboard Cite

The Raven I and the Raven II surgical robots, as open research platforms, have been serving the robotic surgery research community for ten years. The paper 1) briefly presents the Raven I and the Raven II robots, 2) reviews the recent publications that are built upon the Raven robots, aim to be applied to the Raven robots, or are directly compared with the Raven robots, and 3) uses the Raven robots as a case study to discuss the popular research problems in the research community and the trend of robotic surgery study. Instead of being a thorough literature review, this work only reviews the works formally published in the past three years and uses these recent publications to analyze the research interests, the popular open research problems, and opportunities in the topic of robotic surgery.

show abstract

“…Soft medical robots are multidisciplinary emerging technologies such as materials science, bionics, mechanics, electronics, and computer science. At present, soft medical robots have been used for surgery, diagnosis, rehabilitation, prostheses, artificial organs, drug delivery and many other medical applications . The movements such as bending, torsion, extension, and contact operations required high flexibility and deformability of soft medical robots.…”

Section: Introductionmentioning

confidence: 99%

A review of recent advancements in soft and flexible robots for medical applications

Zhang

2020

Robotics Computer Surgery

View full text Add to dashboard Cite

Background: Soft and flexible robots for medical applications are needed to change their flexibility over a wide range to perform tasks adequately. The mechanism and theory of flexibility has been a scientific issue and is of interest to the community. Methods: Recent advancements of bionics, flexible actuation, sensing, and intelligent control algorithms as well as tunable stiffness have been referenced when soft and flexible robots are developed. The benefits and limitations of these relevant studies and how they affect the flexibility are discussed, and possible research directions are explored. Results: The bionic materials and structures that demonstrate the potential capabilities of the soft medical robot flexibility are the fundamental guarantee for clinical medical applications. Flexible actuation that used to provide power, intelligent control algorithms which are the exact executors, and the wide range stiffness of the soft materials are the three important influence factors for soft medical robots. Conclusion: Some reasonable suggestions and possible solutions for soft and flexible medical robots are proposed, including novel materials, flexible actuation concepts with a built-in source of energy or power, programmable flexibility, and adjustable stiffness. K E Y W O R D S bionics, flexible actuation, sensing and intelligent control algorithm, soft and flexible robots, tunable stiffness 1 | INTRODUCTION The application of robots in the medical field dates back to a few decades ago, but the recent use of soft materials in medical robots has enabled new capabilities that create possibilities for medical treatments in which much safer human-robot interaction is preferred. 1-3 Soft medical robots are defined as soft and flexible electro-mechanical systems with high flexibility performing medical applications. Soft medical robots are multidisciplinary emerging technologies 4 such as materials science, bionics, mechanics, electronics, and computer science. At present, soft medical robots have been used for surgery, 5diagnosis, 6 rehabilitation, 7 prostheses, 8 artificial organs, 9 drug delivery 10 and many other medical applications. [11][12][13][14][15][16] The movements such as bending, torsion, extension, and contact operations 17 required high flexibility and deformability 18 of soft medical robots.Soft medical robots exhibit a range of degrees of flexibility during medical applications. In this paper, flexibility is used to describe the characteristics of soft medical robots that have a proper combination of stiffness and compliance and it is on the scientific level. Actually, flexibility reflects in three aspects: the variety of shape, the wide range of stiffness, and the adequate force applied. It is necessary for soft medical robots that it can change their flexibility degree over a wide range to perform tasks adequately. For example, there has certainly been a longterm demand in minimally invasive surgery (MIS) applications for soft medical robots that can move, deform, navigate narrow gaps, and int...

show abstract

Soft Robotic Manipulator for Improving Dexterity in Minimally Invasive Surgery

Cited by 48 publications

References 26 publications

Soft Robotics in Minimally Invasive Surgery

Soft Robotics in Minimally Invasive Surgery

The Raven Open Surgical Robotic Platforms: A Review and Prospect

A review of recent advancements in soft and flexible robots for medical applications

Contact Info

Product

Resources

About