TY - GEN
T1 - Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications
AU - Naghibi, H.
AU - Gifari, M.W.
AU - Hoitzing, W.
AU - Lageveen, J.W.
AU - van As, D.M.M.
AU - Stramigioli, S.
AU - Abayazid, M.
PY - 2019/5/1
Y1 - 2019/5/1
N2 - Despite the recent advances in soft endoscopes, they could not yet fully fulfill the requirements for minimally invasive and natural orifice transluminal endoscopic surgeries. Maneuverability, bendability, different structural stiffness required for different endoscopic surgical interventions, the space needed for surgical manipulators and patient's safety are amongst the main factors which can contribute to implementing the new soft robotics endoscope in practice. In this study, based on finite element analysis on an existing endoscopic segment, a new improved endoscopic module was developed. A novel approach for stiffening of the endoscopic module was proposed. The actuation and stiffening components were combined to introduce a multi-level stiffening mechanism to the endoscope, and also to provide a free lumen for manipulators. To increase patient's safety, a force sensing module was developed to estimate the magnitude and direction of the force from tissues to the endoscope. The developed endoscopic system was integrated to a haptic control system. The 3D kinematics control and haptic feedback control of the endoscopic module were validated.
AB - Despite the recent advances in soft endoscopes, they could not yet fully fulfill the requirements for minimally invasive and natural orifice transluminal endoscopic surgeries. Maneuverability, bendability, different structural stiffness required for different endoscopic surgical interventions, the space needed for surgical manipulators and patient's safety are amongst the main factors which can contribute to implementing the new soft robotics endoscope in practice. In this study, based on finite element analysis on an existing endoscopic segment, a new improved endoscopic module was developed. A novel approach for stiffening of the endoscopic module was proposed. The actuation and stiffening components were combined to introduce a multi-level stiffening mechanism to the endoscope, and also to provide a free lumen for manipulators. To increase patient's safety, a force sensing module was developed to estimate the magnitude and direction of the force from tissues to the endoscope. The developed endoscopic system was integrated to a haptic control system. The 3D kinematics control and haptic feedback control of the endoscopic module were validated.
UR - http://www.scopus.com/inward/record.url?scp=85067104112&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793584
DO - 10.1109/ICRA.2019.8793584
M3 - Conference contribution
AN - SCOPUS:85067104112
T3 - Proceedings - IEEE International Conference on Robotics and Automation (ICRA)
SP - 1527
EP - 1533
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - IEEE
CY - Piscataway, NJ
T2 - 2019 IEEE International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -