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

    2 Citations (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

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