Development of a Multi-level Stiffness Soft Robotics Module with Force Haptic Feedback for Endoscopic Applications

Hamid Naghibi, Muhammad Wildan Gifari, Willem Hoitzing, Jornt W. Lageveen, Dave M.M. van As, Stefano Stramigioli, Momen Abayazid

Research output: Contribution to conferencePaperAcademicpeer-review

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 among 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
Publication statusPublished - 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

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

Keywords

  • Soft material robotics
  • Haptics and haptic interfaces
  • Hydraulic/pneumatic actuators

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 Robotics Module with Force Haptic Feedback for Endoscopic Applications. Paper presented at 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada.
Naghibi, Hamid ; Gifari, Muhammad Wildan ; Hoitzing, Willem ; Lageveen, Jornt W. ; van As, Dave M.M. ; Stramigioli, Stefano ; Abayazid, Momen . / Development of a Multi-level Stiffness Soft Robotics Module with Force Haptic Feedback for Endoscopic Applications. Paper presented at 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada.
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author = "Hamid Naghibi and Gifari, {Muhammad Wildan} and Willem Hoitzing and Lageveen, {Jornt W.} and {van As}, {Dave M.M.} and Stefano Stramigioli and Momen Abayazid",
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Naghibi, H, Gifari, MW, Hoitzing, W, Lageveen, JW, van As, DMM, Stramigioli, S & Abayazid, M 2019, 'Development of a Multi-level Stiffness Soft Robotics Module with Force Haptic Feedback for Endoscopic Applications' Paper presented at 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19 - 24/05/19, .

Development of a Multi-level Stiffness Soft Robotics Module with Force Haptic Feedback for Endoscopic Applications. / Naghibi, Hamid; Gifari, Muhammad Wildan; Hoitzing, Willem; Lageveen, Jornt W.; van As, Dave M.M.; Stramigioli, Stefano ; Abayazid, Momen .

2019. Paper presented at 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada.

Research output: Contribution to conferencePaperAcademicpeer-review

TY - CONF

T1 - Development of a Multi-level Stiffness Soft Robotics Module with Force Haptic Feedback for Endoscopic Applications

AU - Naghibi, Hamid

AU - Gifari, Muhammad Wildan

AU - Hoitzing, Willem

AU - Lageveen, Jornt W.

AU - van As, Dave M.M.

AU - Stramigioli, Stefano

AU - Abayazid, Momen

PY - 2019/5

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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 among 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.

KW - Soft material robotics

KW - Haptics and haptic interfaces

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M3 - Paper

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Naghibi H, Gifari MW, Hoitzing W, Lageveen JW, van As DMM, Stramigioli S et al. Development of a Multi-level Stiffness Soft Robotics Module with Force Haptic Feedback for Endoscopic Applications. 2019. Paper presented at 2019 IEEE International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada.