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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
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A bioinspired soft manipulator for minimally invasive surgery.
T Ranzani1, G Gerboni, M Cianchetti
1The BioRobotics Institute, Scuola Superiore Sant'Anna (SSSA), Viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy.
Bioinspiration & Biomimetics
|May 14, 2015
Summary
This study presents a novel, soft robotic manipulator inspired by octopus arms for minimally invasive surgery (MIS). Its multi-directional bending and stiffening capabilities enhance surgical reach and interaction with tissues.
Area of Science:
- Robotics
- Biomedical Engineering
- Surgical Technology
Background:
- Minimally invasive surgery (MIS) currently relies on rigid instruments, limiting dexterity and maneuverability.
- Existing MIS tools can cause collateral tissue damage due to their inflexibility.
- There is a need for advanced surgical manipulators that offer greater articulation and controlled interaction with delicate biological structures.
Purpose of the Study:
- To introduce and evaluate a novel, bioinspired soft robotic manipulator for MIS.
- To demonstrate the enhanced capabilities of a two-module soft manipulator compared to traditional rigid MIS tools.
- To assess the manipulator's potential for real-world surgical applications through performance characterization.
Main Methods:
- Design and fabrication of a two-module soft robotic manipulator with multi-directional bending and stiffening capabilities, inspired by octopus arm locomotion.
- Independent control of each module to achieve complex movements and targeted manipulation.
- Experimental characterization of the manipulator's workspace, stiffening abilities, and force generation.
- Evaluation of integrated stiffening and manipulation tasks to assess surgical scenario suitability.
Main Results:
- The two-module soft manipulator exhibits significant multi-directional bending and controllable stiffening, mimicking octopus arm functionality.
- Experimental tests confirm the manipulator's effective workspace and force generation capabilities.
- The study demonstrates the successful integration of stiffening and manipulation, highlighting its potential for complex surgical tasks.
- Performance metrics indicate enhanced capabilities compared to current rigid MIS tools.
Conclusions:
- The bioinspired soft robotic manipulator offers a promising alternative to rigid instruments in minimally invasive surgery.
- Its unique design provides superior dexterity, maneuverability, and controlled interaction with biological tissues.
- Further development and testing are warranted to fully realize its potential in clinical surgical settings.
