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Related Experiment Video

Updated: Sep 11, 2025

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Multimodal Pressure-Actuated System Toward Adaptive Anchoring Within Complex Human Lumen.

Hao Liu1,2, Yuchen Tang1,2,3, Chongyang Wang1,2

  • 1State Key Laboratory of Robotics and Intelligent Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China.

Soft Robotics
|August 12, 2025
PubMed
Summary

A novel multimodal pressure-driven balloon anchoring system offers reliable tissue adhesion in complex lumens. This adaptable technology enhances stability for medical manipulations, outperforming existing methods.

Keywords:
adaptive anchoringballoonhuman lumenmechanics modelmultimodal pressure actuation

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Area of Science:

  • Biomedical Engineering
  • Medical Devices
  • Minimally Invasive Surgery

Background:

  • Stable anchoring is crucial for medical manipulations within human lumens.
  • Current anchoring methods can damage soft tissues or lack adaptability to lumen geometry.

Purpose of the Study:

  • To introduce a novel complex balloon anchoring mechanism driven by multimodal pressure.
  • To demonstrate the mechanism's ability to achieve stable adhesion and shape adaptation within lumens.

Main Methods:

  • Detailed manufacturing process for a high diameter/length ratio balloon-type anchoring unit.
  • Establishment of a mechanics model to describe anchoring unit deformation.
  • Anchoring experiments in phantoms and ex vivo tissues, comparing with single and double balloon systems.

Main Results:

  • The proposed anchoring technology demonstrates more reliable anchoring performance.
  • The system adaptively adjusts anchoring dimensions to lumen variations.
  • Multimodal pressure actuation enables shape adaptation (expansion/contraction).

Conclusions:

  • The multimodal pressure-driven balloon anchoring mechanism provides a superior solution for lumenal interventions.
  • This technology offers enhanced stability and adaptability compared to existing methods.
  • The developed anchoring unit is suitable for complex and variable lumen environments.