Modular soft mechatronic manipulator for minimally invasive surgery (MIS): overall architecture and development of a fully integrated soft module

This paper describes the design and development of a modular soft man ipulator for minimally invasive surgery, which equals the high dexterity of classic hyper redundant continuum, but rigid, robots resulting in safer potential interaction with internal organs. The manipulator relies on the use of a soft flexible fluidic actuator in each of its modules, which can be wireless controlled by means of an embedded fluidic control unit. This actuation unit is equipped with three miniaturized latching valves, a wireless microcontroller board, and a specifically designed fluidic distributor integrated into the elastomeric material that the module is made of. FEM simulations and experimental tests verified the reliability of the distributor in acting as a piping system inside each module. The mobility of the fully integrated soft module was evaluated in terms of static performances and covered workspace. The module's dynamic model during one-chamber motion was estimated from the parameter estimation analysis. The characterization of the single module behaviour is intended as first step to ease the future high level control of the multi-modular architecture.