Evaluation of design aspects of modular pneumatic soft robotic endoscopes

Jan A. Lenssen, Hamid Naghibi, Momen Abayazid

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

Abstract

Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) are gradually replacing purely open surgery. One of the key components in MIS or NOTES is an endoscope. Soft robotic endoscopes can provide accuracy and safe interaction with human soft tissue. In this study, the design aspects of pneumatic endoscopic soft robots are investigated. These aspects are the radial constraints (sheathing) of pneumatic chambers in the soft robotic module, the number of chambers and the geometric volume of the chambers. The evaluation is considering the influence of these design aspects on the bendability of the soft robot. Besides the module bending performance, other aspects are considered, including; reducing the pneumatic pressure applied for bending, minimizing the module dimensions, and using the design in multi-module configuration in endoscopic applications. These design aspects are evaluated using finite element models that are validated experimentally based on tests performed in this study and previous studies. The results show that despite the fact that the 4-chamber module provides higher moment arm while bending, using three chambers is more optimal for control and pneumatic hardware requirements. It was observed that outer sheathing provides more bending at lower pneumatic pressure. Moreover, the cylindrical chamber design provides higher bending capabilities, but other volumetric designs can be considered in case more space is needed for miniaturizing the design. In conclusion, the results in this study provide new insight in the design aspects of the pneumatic chambers of soft robotic endoscopes which is beneficial for bringing conceptual designs into clinical practice.

Original languageEnglish
Title of host publicationRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PublisherIEEE
Pages56-61
Number of pages6
ISBN (Electronic)9781538692608
DOIs
Publication statusPublished - 27 May 2019
EventIEEE International Conference on Soft Robotics, RoboSoft 2019 - COEX, Seoul, Korea, Republic of
Duration: 14 Apr 201918 Apr 2019
http://robosoft2019.org/

Conference

ConferenceIEEE International Conference on Soft Robotics, RoboSoft 2019
Abbreviated titleRoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period14/04/1918/04/19
Internet address

Fingerprint

Endoscope
Endoscopy
Pneumatics
Robotics
Surgery
Evaluation
Module
Minimally Invasive Surgery
Orifices
Robot
Robots
Design
Soft Tissue
Conceptual Design
Formability
Conceptual design
Finite Element Model
Hardware
Tissue
Moment

Cite this

Lenssen, J. A., Naghibi, H., & Abayazid, M. (2019). Evaluation of design aspects of modular pneumatic soft robotic endoscopes. In RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics (pp. 56-61). [8722749] IEEE. https://doi.org/10.1109/ROBOSOFT.2019.8722749
Lenssen, Jan A. ; Naghibi, Hamid ; Abayazid, Momen. / Evaluation of design aspects of modular pneumatic soft robotic endoscopes. RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. IEEE, 2019. pp. 56-61
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abstract = "Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) are gradually replacing purely open surgery. One of the key components in MIS or NOTES is an endoscope. Soft robotic endoscopes can provide accuracy and safe interaction with human soft tissue. In this study, the design aspects of pneumatic endoscopic soft robots are investigated. These aspects are the radial constraints (sheathing) of pneumatic chambers in the soft robotic module, the number of chambers and the geometric volume of the chambers. The evaluation is considering the influence of these design aspects on the bendability of the soft robot. Besides the module bending performance, other aspects are considered, including; reducing the pneumatic pressure applied for bending, minimizing the module dimensions, and using the design in multi-module configuration in endoscopic applications. These design aspects are evaluated using finite element models that are validated experimentally based on tests performed in this study and previous studies. The results show that despite the fact that the 4-chamber module provides higher moment arm while bending, using three chambers is more optimal for control and pneumatic hardware requirements. It was observed that outer sheathing provides more bending at lower pneumatic pressure. Moreover, the cylindrical chamber design provides higher bending capabilities, but other volumetric designs can be considered in case more space is needed for miniaturizing the design. In conclusion, the results in this study provide new insight in the design aspects of the pneumatic chambers of soft robotic endoscopes which is beneficial for bringing conceptual designs into clinical practice.",
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Lenssen, JA, Naghibi, H & Abayazid, M 2019, Evaluation of design aspects of modular pneumatic soft robotic endoscopes. in RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics., 8722749, IEEE, pp. 56-61, IEEE International Conference on Soft Robotics, RoboSoft 2019, Seoul, Korea, Republic of, 14/04/19. https://doi.org/10.1109/ROBOSOFT.2019.8722749

Evaluation of design aspects of modular pneumatic soft robotic endoscopes. / Lenssen, Jan A.; Naghibi, Hamid; Abayazid, Momen.

RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. IEEE, 2019. p. 56-61 8722749.

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

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Lenssen JA, Naghibi H, Abayazid M. Evaluation of design aspects of modular pneumatic soft robotic endoscopes. In RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. IEEE. 2019. p. 56-61. 8722749 https://doi.org/10.1109/ROBOSOFT.2019.8722749