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Updated: May 9, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Published on: November 14, 2015

Millimeter-scale fluid-driven soft robots.

Rong Bian¹, Ningbin Zhang¹, Xinyu Yang¹

¹State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University; Shanghai 200240, China.

National Science Review

|November 12, 2025

Summary

This summary is machine-generated.

We developed a mini bubble casting method to fabricate tiny, high-quality fluid-driven soft robots. This breakthrough enables precise navigation in confined spaces for biomedical applications.

Keywords:

biomedical tool fluid dynamic miniaturized robot soft robotics

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Last Updated: May 9, 2026

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

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Published on: November 14, 2015

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Area of Science:

Biomedical Engineering
Robotics
Materials Science

Background:

Millimeter-scale soft robots (milli-SRs) offer potential for precise navigation in confined biomedical environments.
Fabricating miniaturized fluid-driven soft robots is challenging due to microscale forces and interfacial tension.

Purpose of the Study:

To introduce a universal design and fabrication approach for high-quality, multifunctional fluid-driven milli-SRs.
To overcome limitations in fabricating submillimeter soft robotic components.

Main Methods:

Developed the mini bubble casting method involving bubble injection into pre-modified silicone liquid under stable conditions.
Utilized a theoretical model to guide silicone modification, addressing viscous resistance and interfacial tension effects on bubble dynamics.
Achieved submillimeter internal voids for soft milli-actuators.

Main Results:

Successfully fabricated soft milli-actuators ten times smaller than existing ones with low surface roughness.
Demonstrated a milli-gripper capable of handling delicate insects.
Developed a thrombus extractor for navigating narrow vessels.
Created a miniature steerable tip for improved bronchial navigation.

Conclusions:

The mini bubble casting method provides a viable approach for producing high-quality, multifunctional milli-SRs.
These miniature soft robots show significant potential for advanced biomedical applications, including minimally invasive surgery and diagnostics.
The developed technology enhances dexterity and safety in navigating delicate biological structures.