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Related Experiment Video

Updated: Mar 27, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Design, development and characterization of a modular end effector for MIS procedures.

A Izzo, G Tortora, P Dario

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |January 7, 2016
    PubMed
    Summary

    This study presents a novel modular robotic end-effector for minimally invasive surgery (MIS). The soft actuation system enhances dexterity and offers a cost-effective solution for Natural Orifice Trans-luminal Endoscopic Surgery (NOTES).

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    Area of Science:

    • Robotics
    • Surgical Technology
    • Biomedical Engineering

    Background:

    • Minimally Invasive Surgery (MIS) offers patient benefits but imposes dexterity constraints due to rigid instruments.
    • Existing surgical robots are costly and bulky, limiting their application, especially in Natural Orifice Trans-luminal Endoscopic Surgery (NOTES).

    Purpose of the Study:

    • To develop an innovative, modular end-effector for MIS procedures.
    • To address the need for simple, cost-effective, and interchangeable tools in robotic surgery.
    • To enhance dexterity and range of motion in endoscopic interventions.

    Main Methods:

    • Design and implementation of a modular end-effector utilizing a compliant soft actuation system.
    • Integration of the end-effector for potential use in NOTES procedures.
    • Characterization of the end-effector's gripping force capabilities.

    Main Results:

    • The developed modular end-effector demonstrates a compliant soft actuation system.
    • The system is capable of providing significant gripping forces, up to 5.78 N.
    • The design facilitates tool interchangeability crucial for complex MIS procedures.

    Conclusions:

    • The presented modular end-effector offers a promising solution for enhancing robotic-assisted MIS.
    • This innovation addresses the limitations of current surgical robots in terms of cost and size for NOTES.
    • The soft actuation system provides enhanced dexterity and gripping force for improved surgical interventions.