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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    title = "Development of a Multi-level Stiffness Soft Robotics 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 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.",
    keywords = "Soft material robotics, Haptics and haptic interfaces, Hydraulic/pneumatic actuators",
    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",
    year = "2019",
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    note = "2019 IEEE International Conference on Robotics and Automation, ICRA 2019, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

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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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    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 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.

    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

    KW - Hydraulic/pneumatic actuators

    M3 - Paper

    ER -

    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.