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A soft multi-module manipulator with variable stiffness for minimally invasive surgery.

Iris De Falco1, Matteo Cianchetti, Arianna Menciassi

  • 1Author to whom any correspondence should be addressed.

Bioinspiration & Biomimetics
|July 5, 2017
PubMed
Summary
This summary is machine-generated.

This study introduces a novel soft manipulator for minimally invasive surgery, mimicking octopus arm movements. Its adaptable, safe design features fluidic actuators and tunable stiffness for precise tissue interaction.

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Area of Science:

  • Biomedical Engineering
  • Robotics
  • Soft Robotics

Background:

  • Minimally invasive surgery (MIS) demands advanced tools for enhanced dexterity and safety.
  • Existing surgical manipulators may lack the adaptability and compliance required for delicate tissue interaction.
  • Octopus arms offer a biological model for highly dexterous and adaptable manipulation.

Purpose of the Study:

  • To design and fabricate a soft robotic manipulator for MIS inspired by octopus arm locomotion.
  • To integrate fluidic actuation for omnidirectional movement and granular jamming for tunable stiffness.
  • To evaluate the manipulator's performance, including stiffness, workspace, and functional capabilities in surgical tasks.

Main Methods:

  • A multi-module soft manipulator was designed using soft materials and embedded fluidic actuators.
  • A granular jamming mechanism was incorporated into each module for active stiffness control.
  • A miniaturized camera and pneumatic gripper were integrated at the manipulator's tip.
  • Theoretical and experimental analyses were conducted to evaluate stiffness and motion workspace.
  • Pick-and-place tests were performed to demonstrate functional capabilities.

Main Results:

  • The soft manipulator successfully demonstrated omnidirectional bending and elongation, mimicking octopus arm movements.
  • The granular jamming mechanism allowed for effective tuning of manipulator stiffness.
  • The integrated camera and gripper enabled practical surgical task execution.
  • Analysis confirmed the manipulator's motion workspace and validated its design principles.

Conclusions:

  • The developed soft manipulator offers a safe, adaptable, and controllable solution for MIS.
  • The biomimetic design and integrated features provide enhanced capabilities for surgical interventions.
  • This technology holds potential for improving dexterity and patient outcomes in minimally invasive procedures.