A review on recent advances in soft surgical robots for endoscopic applications

M. Wildan Gifari, Hamid Naghibi*, Stefano Stramigioli, Momen Abayazid

*Corresponding author for this work

    Research output: Contribution to journalReview articleAcademicpeer-review

    72 Downloads (Pure)

    Abstract

    Background: Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called “soft robotics” emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical instrument inside human body is still in its infancy. Aims: In this paper, current application and design of soft robots specifically applied for endoscopy are reviewed. Materials & Methods: Different aspects in the implementation of soft robotics in endoscope design were reviewed. The key studies about MIS and NOTES were reviewed to establish the clinical background and extract the limitations of current endoscopic device in the last decade. Results and discussion: In this review study, the implementation of soft robotics concepts in endoscopic application, with highlights on different features of several soft endoscopes, were evaluated. The progress in different aspects of soft robotics endoscope, current state, and future perspectives were also discussed. Conclusion: Based on the survey on the structural specification, actuation, sensing, and stiffening the future soft surgical endoscopes are recommended to fulfil the following specifications: safe especially from pressure leakage, fully biocompatible materials, MR‐compatible, capable for large bending in at least two antagonistic directions, modularity, adjustable stiffness.
    Original languageEnglish
    JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
    Volume15
    Issue number5
    Early online date8 May 2019
    DOIs
    Publication statusPublished - 1 Oct 2019

    Fingerprint

    Robotics
    Endoscopy
    Endoscopes
    Human Body
    Equipment and Supplies
    Specifications
    Biocompatible Materials
    Robotic surgery
    Surgical Instruments
    Management information systems
    Biomaterials
    Pressure
    Stiffness
    Robots

    Keywords

    • abdominal
    • actuators
    • digestive system
    • endoscopy
    • minimal invasive surgery
    • natural orifice surgery
    • safety
    • sensors
    • soft robotics

    Cite this

    @article{e53e2a99b3254d66819fe9b942660b12,
    title = "A review on recent advances in soft surgical robots for endoscopic applications",
    abstract = "Background: Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called “soft robotics” emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical instrument inside human body is still in its infancy. Aims: In this paper, current application and design of soft robots specifically applied for endoscopy are reviewed. Materials & Methods: Different aspects in the implementation of soft robotics in endoscope design were reviewed. The key studies about MIS and NOTES were reviewed to establish the clinical background and extract the limitations of current endoscopic device in the last decade. Results and discussion: In this review study, the implementation of soft robotics concepts in endoscopic application, with highlights on different features of several soft endoscopes, were evaluated. The progress in different aspects of soft robotics endoscope, current state, and future perspectives were also discussed. Conclusion: Based on the survey on the structural specification, actuation, sensing, and stiffening the future soft surgical endoscopes are recommended to fulfil the following specifications: safe especially from pressure leakage, fully biocompatible materials, MR‐compatible, capable for large bending in at least two antagonistic directions, modularity, adjustable stiffness.",
    keywords = "abdominal, actuators, digestive system, endoscopy, minimal invasive surgery, natural orifice surgery, safety, sensors, soft robotics",
    author = "Gifari, {M. Wildan} and Hamid Naghibi and Stefano Stramigioli and Momen Abayazid",
    year = "2019",
    month = "10",
    day = "1",
    doi = "10.1002/rcs.2010",
    language = "English",
    volume = "15",
    journal = "International Journal of Medical Robotics and Computer Assisted Surgery",
    issn = "1478-5951",
    publisher = "Wiley",
    number = "5",

    }

    A review on recent advances in soft surgical robots for endoscopic applications. / Gifari, M. Wildan; Naghibi, Hamid; Stramigioli, Stefano ; Abayazid, Momen .

    In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 15, No. 5, 01.10.2019.

    Research output: Contribution to journalReview articleAcademicpeer-review

    TY - JOUR

    T1 - A review on recent advances in soft surgical robots for endoscopic applications

    AU - Gifari, M. Wildan

    AU - Naghibi, Hamid

    AU - Stramigioli, Stefano

    AU - Abayazid, Momen

    PY - 2019/10/1

    Y1 - 2019/10/1

    N2 - Background: Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called “soft robotics” emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical instrument inside human body is still in its infancy. Aims: In this paper, current application and design of soft robots specifically applied for endoscopy are reviewed. Materials & Methods: Different aspects in the implementation of soft robotics in endoscope design were reviewed. The key studies about MIS and NOTES were reviewed to establish the clinical background and extract the limitations of current endoscopic device in the last decade. Results and discussion: In this review study, the implementation of soft robotics concepts in endoscopic application, with highlights on different features of several soft endoscopes, were evaluated. The progress in different aspects of soft robotics endoscope, current state, and future perspectives were also discussed. Conclusion: Based on the survey on the structural specification, actuation, sensing, and stiffening the future soft surgical endoscopes are recommended to fulfil the following specifications: safe especially from pressure leakage, fully biocompatible materials, MR‐compatible, capable for large bending in at least two antagonistic directions, modularity, adjustable stiffness.

    AB - Background: Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called “soft robotics” emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical instrument inside human body is still in its infancy. Aims: In this paper, current application and design of soft robots specifically applied for endoscopy are reviewed. Materials & Methods: Different aspects in the implementation of soft robotics in endoscope design were reviewed. The key studies about MIS and NOTES were reviewed to establish the clinical background and extract the limitations of current endoscopic device in the last decade. Results and discussion: In this review study, the implementation of soft robotics concepts in endoscopic application, with highlights on different features of several soft endoscopes, were evaluated. The progress in different aspects of soft robotics endoscope, current state, and future perspectives were also discussed. Conclusion: Based on the survey on the structural specification, actuation, sensing, and stiffening the future soft surgical endoscopes are recommended to fulfil the following specifications: safe especially from pressure leakage, fully biocompatible materials, MR‐compatible, capable for large bending in at least two antagonistic directions, modularity, adjustable stiffness.

    KW - abdominal

    KW - actuators

    KW - digestive system

    KW - endoscopy

    KW - minimal invasive surgery

    KW - natural orifice surgery

    KW - safety

    KW - sensors

    KW - soft robotics

    UR - http://www.scopus.com/inward/record.url?scp=85067384140&partnerID=8YFLogxK

    U2 - 10.1002/rcs.2010

    DO - 10.1002/rcs.2010

    M3 - Review article

    C2 - 31069938

    VL - 15

    JO - International Journal of Medical Robotics and Computer Assisted Surgery

    JF - International Journal of Medical Robotics and Computer Assisted Surgery

    SN - 1478-5951

    IS - 5

    ER -