期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 4, 页码 7736-7743出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3100617
关键词
Hydraulic/Pneumatic actuators; Surgical robotics: laparoscopy; Soft robot applications; Spring-reinforced multi-DoF actuator
类别
资金
- National Natural Science Foundation of China [82027807, 81771940]
- Beijing Municipal Natural Science Foundation [7212202]
- National Key Research and Development Program of China [2017YFC0108000]
The research team developed a laser endoscopic manipulator with a soft bendable tip, aiming to enhance the operability of surgeries. Experimental results show that this manipulator has extended bending capability and integrated diagnosis and therapeutic function, enabling on-site therapy.
The flexible manipulators and related robotic systems have been widely used in minimally invasive surgery (MIS) for enhancing the intraoperative inspection and surgical operation. Although a variety of flexible manipulators using different mechanisms have been developed, most of them are rigid mechanical structures or single function, which lack softness, robustness or in-situ diagnosis and surgical treatment. To enrich the flexibility and therapeutic function of manipulators, we developed a laser endoscopic manipulator with a soft bendable tip. The soft bendable tip is composed of a spring-reinforced soft actuator with multiple channels, which are designed for placing diagnosis and therapy probes to enrich the integrated diagnosis and therapeutic function. Pilot results show that the actuator can bend and elongate in the three-dimensional space and the spring-reinforced structure increases the linearity and consistency of the soft actuator. Experimental outcomes demonstrate that the proposed robotic system has extended bending capability and integrated diagnosis and therapeutic function. The multiple functions with surgical tools and laser fiber realize in-situ therapy. Therefore, it would be an enhancement for future clinical applications such as single-port laparoscopic surgery (SPL) or neurosurgery.
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