A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module

被引:198
作者
Ranzani, Tommaso [1 ]
Cianchetti, Matteo [1 ]
Gerboni, Giada [1 ]
De Falco, Iris [1 ]
Menciassi, Arianna [1 ]
机构
[1] Scuola Super Sant Anna, BioRobot Inst, I-56025 Pontedera, Italy
关键词
Fluidic actuation; granular jamming; minimally invasive surgery (MIS); soft robot; variable stiffness; CONTINUUM ROBOTS; RETRACTION; VISION;
D O I
10.1109/TRO.2015.2507160
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper presents the concept design of a modular soft manipulator for minimally invasive surgery. Unlike traditional surgical manipulators based on metallic steerable needles, tendon-driven mechanisms, or articulated motorized links, we combine flexible fluidic actuators to obtain multidirectional bending and elongation with a variable stiffness mechanism based on granular jamming. The idea is to develop a manipulator based on a series of modules, each consisting of a silicone matrix with pneumatic chambers for 3-D motion, and one central channel for the integration of granular-jamming-based stiffening mechanism. A bellows-shaped braided structure is used to contain the lateral expansion of the flexible fluidic actuator and to increase its motion range. In this paper, the design and experimental characterization of a single module composed of such a manipulator is presented. Possible applications of the manipulator in the surgical field are discussed.
引用
收藏
页码:187 / 200
页数:14
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