Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project, funded by European Commission, STIFF-FLOP:: STIFFness controllable Flexible and Learn-able manipulator for surgical OPerations.In Minimally Invasive Surgery (MIS), tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological “manipulators”, like the octopus arm can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects. STIFF-FLOP robot is an innovative soft robotic arm that can squeeze through a standard MIS, reconfigure itself and stiffen by hydrostatic actuation to perform compliant force control tasks while facing unexpected situations. Technical topics discussed in the book include:: Soft actuators Continuum soft manipulators Control, kinematics and navigation of continuum manipulators Optical sensors for force, torque, and curvature Haptic feedback and human interface for surgical systems Validation of soft stiffness controllable robots
Part I:: Development of Silicone-based Stiffness Controllable Actuators 1:: Technology selection 2:: Design of the Multi-module Manipulator 3:: Soft manipulator actuation module - with reinforced chambers 4:: Antagonistic actuation principle for a silicone-based soft manipulator 5:: Smart Hydrogel for Stiffness Controllable Continuum Manipulators:: A Conceptual DesignPart II:: Creation and Integration of multiple sensing modalities 6:: Optical Force and Torque Sensor for Flexible Robotic Manipulators 7:: Pose Sensor for STIFF-FLOP Manipulator 8:: The STIFF-FLOP vision system Part III:: Control, Kinematics and Navigation 9:: Inverse Kinematics methods for flexible arm control 10:: Modelling and position control of the soft manipulator 11:: Reactive Navigation for Continuum Manipulator in Unknown Environments Part IV:: Human Interface 12:: The design of a functional STIFF-FLOP robot operator’s console 13:: Haptic feedback modalities for minimally invasive surgery 14:: Force feedback sleeve using pneumatic and micro vibration actuators 15:: Representation of distributed haptic feedback given via vibro-tactile actuator arrays 16:: RobinHand Haptic Device Part V:: Benchmarking Platform for STIFF-FLOP validation 17:: Benchmarking for surgery simulators 18:: Miniaturised version of the STIFF-FLOP manipulator for cadaver tests 19:: Total mesorectal excision using the STIFF-FLOP soft and flexible robotic arm in cadaver models
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