Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications

H. Naghibi, M.W. Gifari, W. Hoitzing, J.W. Lageveen, D.M.M. van As, S. Stramigioli, M. Abayazid

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

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1527-1533
Number of pages7
ISBN (Electronic)9781538660263
DOIs
Publication statusPublished - 1 May 2019
Event2019 IEEE International Conference on Robotics and Automation, ICRA 2019 - Palais des Congrès de Montreal, Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation (ICRA)
Volume2019
ISSN (Print)1050-4729
ISSN (Electronic)2577-087X

Conference

Conference2019 IEEE International Conference on Robotics and Automation, ICRA 2019
Abbreviated titleICRA 2019
CountryCanada
CityMontreal
Period20/05/1924/05/19

Fingerprint

Endoscopy
Robotics
Stiffness
Feedback
Manipulators
Maneuverability
Formability
Orifices
Surgery
Feedback control
Kinematics
Tissue
Control systems
Finite element method

Cite this

Naghibi, H., Gifari, M. W., Hoitzing, W., Lageveen, J. W., van As, D. M. M., Stramigioli, S., & Abayazid, M. (2019). Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 1527-1533). [8793584] (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2019). Piscataway, NJ: IEEE. https://doi.org/10.1109/ICRA.2019.8793584
Naghibi, H. ; Gifari, M.W. ; Hoitzing, W. ; Lageveen, J.W. ; van As, D.M.M. ; Stramigioli, S. ; Abayazid, M. / Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. 2019 International Conference on Robotics and Automation, ICRA 2019. Piscataway, NJ : IEEE, 2019. pp. 1527-1533 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)).
@inproceedings{69e16896ddbb4a84b875b01ae2dffb84,
title = "Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications",
abstract = "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.",
author = "H. Naghibi and M.W. Gifari and W. Hoitzing and J.W. Lageveen and {van As}, D.M.M. and S. Stramigioli and M. Abayazid",
year = "2019",
month = "5",
day = "1",
doi = "10.1109/ICRA.2019.8793584",
language = "English",
series = "Proceedings - IEEE International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
pages = "1527--1533",
booktitle = "2019 International Conference on Robotics and Automation, ICRA 2019",
address = "United States",

}

Naghibi, H, Gifari, MW, Hoitzing, W, Lageveen, JW, van As, DMM, Stramigioli, S & Abayazid, M 2019, Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793584, Proceedings - IEEE International Conference on Robotics and Automation (ICRA), vol. 2019, IEEE, Piscataway, NJ, pp. 1527-1533, 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793584

Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. / Naghibi, H.; Gifari, M.W.; Hoitzing, W.; Lageveen, J.W.; van As, D.M.M.; Stramigioli, S.; Abayazid, M.

2019 International Conference on Robotics and Automation, ICRA 2019. Piscataway, NJ : IEEE, 2019. p. 1527-1533 8793584 (Proceedings - IEEE International Conference on Robotics and Automation (ICRA); Vol. 2019).

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

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

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

ER -

Naghibi H, Gifari MW, Hoitzing W, Lageveen JW, van As DMM, Stramigioli S et al. Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. In 2019 International Conference on Robotics and Automation, ICRA 2019. Piscataway, NJ: IEEE. 2019. p. 1527-1533. 8793584. (Proceedings - IEEE International Conference on Robotics and Automation (ICRA)). https://doi.org/10.1109/ICRA.2019.8793584