软机器人
机器人
软件部署
软组织
机器人学
毫米
计算机科学
工作流程
人工智能
模拟
生物医学工程
外科
工程类
医学
物理
天文
数据库
操作系统
作者
Daniel Van Lewen,Taylor Janke,Harin Lee,R. M. Austin,Ehab Billatos,Sheila Russo
标识
DOI:10.1002/aisy.202200326
摘要
While interest in soft robotics as surgical tools has grown due to their inherently safe interactions with the body, their feasibility is limited in the amount of force that can be transmitted during procedures. This is especially apparent in minimally invasive procedures where millimeter‐scale devices are necessary for reaching the desired surgical site, such as in interventional bronchoscopy. To leverage the benefits of soft robotics in minimally invasive surgery, a soft robot with integrated tip steering, stabilization, and needle deployment capabilities is proposed for lung tissue biopsy procedures. Design, fabrication, and modeling of the force transmission of this soft robotic platform allow for integration into a system with a diameter of 3.5 mm. Characterizations of the soft robot are performed to analyze bending angle, force transmission, and expansion during needle deployment. In vitro experiments of both the needle deployment mechanism and fully integrated soft robot validate the proposed workflow and capabilities in a simulated surgical setting.
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