A multi-module soft robotic arm with soft actuator for minimally invasive surgery

Area of Science:

• Medical Robotics
• Biocompatible Materials
• Minimally Invasive Surgery

Background:

• Traditional rigid surgical instruments limit maneuverability in cardiac procedures.
• Rigid tools pose a risk of tissue damage due to insufficient bending angles.
• Soft robotic arms offer flexibility, environmental adaptability, and biocompatibility.

Purpose of the Study:

• To develop and evaluate a multi-module soft robotic arm for minimally invasive cardiac surgery.
• To address the limitations of rigid surgical tools in reaching delicate cardiac structures.
• To reduce the risk of organ contact trauma during cardiac procedures.

Main Methods:

• A multi-module soft robotic arm with multiple degrees of freedom was designed.
• The arm incorporates bending, turning, stretching, and gripper units for precise positioning and tool manipulation.
• Soft silicone actuators replaced rigid components to enhance flexibility and safety.

Main Results:

• The soft robotic arm successfully performed a cardiac surgery to repair an atrial septal defect.
• The system demonstrated reliability and functionality in a clinical setting.
• The flexible design allowed access to the target surgical area.

Conclusions:

• The developed multi-module soft robotic arm is suitable for minimally invasive surgery, specifically for repairing atrial septal defects.
• The use of soft silicone actuators significantly reduces the risk of iatrogenic trauma to organs.
• This flexible robotic arm represents a promising advancement in cardiac surgical instrumentation.