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Updated: Jun 25, 2026
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
9.0K
Toward a novel soft robotic system for minimally invasive interventions
Noah Barnes1, Olivia Young2,3,4, Adira Colton2,3,4
1Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
Summary
This study introduces a novel soft robotic system for precise catheter tip control during minimally invasive surgery. The system allows surgeons to accurately maneuver tools, improving procedural efficiency and patient outcomes.
Area of Science:
- Robotics
- Medical Devices
- Surgical Technology
Background:
- Minimally invasive surgery (MIS) requires precise tool manipulation within complex anatomies.
- Current tools lack adequate control over internal positioning, posing challenges for surgeons.
- Soft robotics offers a potential solution for enhanced maneuverability in MIS.
Purpose of the Study:
- To design and evaluate a pneumatically actuated soft robotic system for controlling a steerable catheter tip.
- To improve tool positioning accuracy and control during minimally invasive procedures.
Main Methods:
- Developed a macroscale, 3D-printed catheter tip with two independently pressurized channels for bidirectional bending.
- Created a motorized hand controller for intuitive user control of bending angle during insertion.
- Characterized two prototypes to map desired angle inputs to pneumatic pressure commands.
Main Results:
- The integrated soft robotic system enabled both novice and skilled surgeons to accurately position the catheter tip.
- Sub-millimeter accuracy was achieved in reaching cylindrical targets.
- Novice users reached targets in ~10 seconds, while skilled surgeons averaged ~5 seconds.
Conclusions:
- The developed soft robotic system allows simultaneous insertion and bending of the catheter tip with high accuracy and speed.
- This technology shows significant promise for enhancing outcomes in minimally invasive interventions.
- Further development could lead to improved surgical tools for complex anatomies.
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