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Updated: May 23, 2026
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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
Integrated high pressure microhydraulic actuation and control for surgical instruments
A J M Moers1, M F L De Volder, D Reynaerts
1Department of Mechanical Engineering, KULeuven, Leuven, Belgium.
Biomedical Microdevices
|April 3, 2012
Summary
This study introduces a novel flexible surgical manipulator with microhydraulic actuators for robot-assisted minimally invasive surgery. The innovative design features distributed degrees of freedom and microvalves, enabling precise control and a 90° angular stroke per segment.
Area of Science:
- Robotics
- Biomedical Engineering
- Mechanical Engineering
Background:
- Minimally invasive surgery (MIS) reduces patient trauma and has seen advancements with robotic assistance.
- Surgical robots require sophisticated manipulators for enhanced performance in complex procedures.
Purpose of the Study:
- To present a novel flexible manipulator for surgical tools.
- To detail the design and development of microhydraulic actuators and microvalves for this manipulator.
Main Methods:
- Development of a flexible manipulator with successive segments, each possessing two bending degrees of freedom.
- Integration of microhydraulic actuators and compact hydraulic valves to power the compliant segments.
- Focus on the challenging development of microvalves for precise distribution of hydraulic power.
Main Results:
- The developed flexible manipulator achieved a 90° angular stroke for each segment.
- The microhydraulic system effectively distributed power to artificial muscle actuators.
Conclusions:
- The presented flexible manipulator with microhydraulic actuation represents a significant advancement in surgical tool technology.
- The developed microvalves are crucial for the precise control of these novel compliant surgical instruments.
