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A Soft Inflatable Cable-Driven Parallel Robot With a Variable Stiffness End-Effector for Advanced Interventional

Jianlin Yang, Zhangxi Zhou, Mark Runciman

    IEEE Transactions on Bio-Medical Engineering
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    PubMed
    Summary
    This summary is machine-generated.

    This study introduces a novel cable-driven parallel robot (CDPR) with a variable stiffness end-effector for advanced interventional endoscopy. The system offers precise control, force sensing, and adjustable stiffness, enhancing endoscopic procedures.

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    Area of Science:

    • Robotics
    • Medical Devices
    • Surgical Technology

    Background:

    • Interventional endoscopy requires precise manipulation and tactile feedback.
    • Existing endoscopic tools often lack variable stiffness and integrated force sensing capabilities.
    • Cable-driven parallel robots (CDPRs) offer a promising platform for minimally invasive surgical applications.

    Purpose of the Study:

    • To present a novel cable-driven parallel robot (CDPR) with a variable stiffness end-effector.
    • To integrate force sensing and a rolling degree of freedom into the end-effector.
    • To evaluate the performance of the CDPR system in simulated endoscopic tasks.

    Main Methods:

    • A CDPR system was developed using a soft inflatable scaffold and a multi-unit end-effector actuated by two cables.
    • Variable stiffness was achieved by adjusting cable tensions.
    • Force estimation was performed using the same cables as force-transmission elements.
    • Master-slave control and simulated surgical tasks were used for performance evaluation.

    Main Results:

    • The robot achieved a mean manual tracking error of approximately 0.5 mm.
    • Simulated endoscopic tasks (peg transfer, wire threading, needle threading) were successfully performed.
    • A mean force estimation error of 0.026 N was achieved under specific conditions.
    • User study demonstrated 100% accuracy in stiffness ranking with visual feedback.

    Conclusions:

    • A variable stiffness end-effector with rolling DoF and force sensing was successfully demonstrated on a CDPR platform.
    • The developed method for variable stiffness and force sensing is cost-effective.
    • This technology holds significant potential for improving gastrointestinal endoscopy procedures.