A Novel Asymmetric Pneumatic Soft-Surgical Endoscope Design with Laminar Jamming

Nehal Mathur, Yoeko X. Mak, Hamid Naghibi, Momen Abayazid

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Abstract

Soft pneumatic endoscopes developed for Minimally Invasive Surgeries (MIS) are designed upright which means that the starting positions straight. As the internal chambers are pressurized the endoscopic module starts bending. The relation between the pneumatic pressure and bending is nonlinear as the air needs first to fill the chamber before bending, and additionally frictional interaction to the sheath adds more to this start-up transient behaviour. This highly nonlinear behaviour severely limits the actuator sensitivity, accuracy, and repeatability near the endoscope's center of operating range. This paper introduces a novel pre-bent MR-compatible soft-surgical pneumatic endoscope design aimed to improve the bending performance of soft endoscopes by shifting the start-up transient out of the operating range. The pre-bent design of 12 mm diameter consists of an actuation and stiffening chamber, inextensible shell reinforcement with a backbone and rings, and external sheathing. The design parameters that include cross-sectional area, number of rings and backbone width are determined using Finite Element (FE) analysis. The motion profile of the fabricated endoscope, determined via experimentation, shows a successful shift of the start-up transient while the jamming structure increases the stiffness of the endoscope but limits the bending range. Further design developments of the endoscope are required for clinical application.

Original languageEnglish
Title of host publication2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages4636-4640
Number of pages5
ISBN (Electronic)978-1-7281-1179-7, 978-1-7281-1178-0 (USB)
ISBN (Print)978-1-7281-1180-3
DOIs
Publication statusPublished - 9 Dec 2021
Event43rd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2021: Changing Global Health Care in the Twenty-First Century - Virtual
Duration: 1 Nov 20215 Nov 2021
Conference number: 43

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
PublisherIEEE
Volume2021
ISSN (Print)2375-7477
ISSN (Electronic)2694-0604

Conference

Conference43rd Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
Abbreviated titleEMBC
Period1/11/215/11/21

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