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A foldable manipulator with tunable stiffness based on braided structure.

Zufeng Shang1,2, Jiayao Ma1,2, Zhong You2,3

  • 1Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin 300350, China.

Journal of Biomedical Materials Research. Part B, Applied Biomaterials
|April 23, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a novel foldable manipulator for minimally invasive surgery (MIS) with adjustable stiffness. The new design enhances surgical tool accuracy and effectiveness by overcoming limitations of current MIS manipulators.

Keywords:
braided structurefolding ratiominimally invasive surgerytunable stiffness

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Area of Science:

  • Biomedical Engineering
  • Surgical Robotics
  • Materials Science

Background:

  • Minimally invasive surgery (MIS) offers advantages over open surgery but faces limitations.
  • Current MIS manipulators have large profiles and low stiffness, hindering effectiveness and accuracy.
  • A need exists for advanced manipulators that are both flexible and stiff, adaptable to surgical needs.

Purpose of the Study:

  • To develop and characterize a novel foldable manipulator for MIS with tunable stiffness.
  • To address the limitations of existing manipulators in terms of profile, stiffness, and accuracy.
  • To explore the potential of a braided skeleton and negative pressure system for stiffness modulation.

Main Methods:

  • Design of a foldable manipulator utilizing a braided skeleton for radial folding.
  • Integration of a membrane system to enable stiffness adjustment via negative pressure.
  • Experimental, numerical, and analytical validation of manipulator performance.

Main Results:

  • The manipulator demonstrated tunable stiffness, achieving both flexible and rigid states.
  • A significant increase in bending stiffness was observed (ratio of 6.85 between rigid and flexible states).
  • The manipulator achieved a radial folding ratio of 1.95, indicating excellent maneuverability.

Conclusions:

  • The proposed foldable manipulator with tunable stiffness shows significant promise for improving MIS.
  • This innovation has the potential to enhance the accuracy and effectiveness of surgical robots in MIS procedures.
  • The design offers a viable solution to overcome current limitations in MIS manipulator technology.