RIVER PUBLISHERS IS AN INTERNATIONAL PUBLISHER THAT PUBLISHES RESEARCH MONOGRAPHS, PROFESSIONAL BOOKS, HANDBOOKS, EDITED VOLUMES AND JOURNALS WITH FOCUS ON KEY RESEARCH AREAS WITHIN THE FIELDS OF SCIENCE, TECHNOLOGY AND MEDICINE (STM).
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery
The STIFF-FLOP Approach
27th July 2018
- ISBN 9788793519725
- Language English
- Pages 350 pp.
- Size 6.125" x 9.5"
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13th August 2018
- ISBN 9788793519718
- Language English
- Pages 350 pp.
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project funded by the 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. The 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 Design
Part 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