1
|
Wang T, Jin T, Lin W, Lin Y, Liu H, Yue T, Tian Y, Li L, Zhang Q, Lee C. Multimodal Sensors Enabled Autonomous Soft Robotic System with Self-Adaptive Manipulation. ACS NANO 2024; 18:9980-9996. [PMID: 38387068 DOI: 10.1021/acsnano.3c11281] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/24/2024]
Abstract
Human hands are amazingly skilled at recognizing and handling objects of different sizes and shapes. To date, soft robots rarely demonstrate autonomy equivalent to that of humans for fine perception and dexterous operation. Here, an intelligent soft robotic system with autonomous operation and multimodal perception ability is developed by integrating capacitive sensors with triboelectric sensor. With distributed multiple sensors, our robot system can not only sense and memorize multimodal information but also enable an adaptive grasping method for robotic positioning and grasp control, during which the multimodal sensory information can be captured sensitively and fused at feature level for crossmodally recognizing objects, leading to a highly enhanced recognition capability. The proposed system, combining the performance and physical intelligence of biological systems (i.e., self-adaptive behavior and multimodal perception), will greatly advance the integration of soft actuators and robotics in many fields.
Collapse
Affiliation(s)
- Tianhong Wang
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, People's Republic of China
- Advanced Robotics Centre, National University of Singapore, Singapore 117608, Singapore
| | - Tao Jin
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, People's Republic of China
- Advanced Robotics Centre, National University of Singapore, Singapore 117608, Singapore
| | - Weiyang Lin
- Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, People's Republic of China
| | - Yangqiao Lin
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
| | - Hongfei Liu
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
- Department of Mechanical and Mechatronics Engineering, The University of Auckland, Auckland 1010, New Zealand
| | - Tao Yue
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, People's Republic of China
| | - Yingzhong Tian
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
| | - Long Li
- Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, People's Republic of China
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, People's Republic of China
| | - Quan Zhang
- School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, People's Republic of China
- School of Artificial Intelligence, Shanghai University, Shanghai 200444, People's Republic of China
| | - Chengkuo Lee
- Department of Electrical & Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117583, Singapore
- Center for Intelligent Sensors and MEMS, National University of Singapore, 4 Engineering Drive 3, Singapore 117583, Singapore
| |
Collapse
|
2
|
Bernth JE, Zhang G, Malas D, Abrahams G, Hayee B, Liu H. MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape. Soft Robot 2024. [PMID: 38484296 DOI: 10.1089/soro.2023.0096] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/05/2024] Open
Abstract
Colonoscopy is currently the best method for detecting bowel cancer, but fundamental design and construction have not changed significantly in decades. Conventional colonoscope (CC) is difficult to maneuver and can lead to pain with a risk of damaging the bowel due to its rigidity. We present the MorphGI, a robotic endoscope system that is self-propelling and made of soft material, thus easy to operate and inherently safe to patient. After verifying kinematic control of the distal bending segment, the system was evaluated in: a benchtop colon simulator, using multiple colon configurations; a colon simulator with force sensors; and surgically removed pig colon tissue. In the colon simulator, the MorphGI completed a colonoscopy in an average of 10.84 min. The MorphGI showed an average of 77% and 62% reduction in peak forces compared to a CC in high- and low-stiffness modes, respectively. Self-propulsion was demonstrated in the excised tissue test but not in the live pig test, due to anatomical differences between pig and human colons. This work demonstrates the core features of MorphGI.
Collapse
Affiliation(s)
- Julius E Bernth
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - Guokai Zhang
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - Dionysios Malas
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - George Abrahams
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
| | - Bu Hayee
- King's College Hospital NHS Foundation Trust, London, United Kingdom
| | - Hongbin Liu
- Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom
- Institute of Automation, Chinese Academy of Sciences (CAS), Beijing, China
| |
Collapse
|
3
|
Wang Y, Hu X, Cui L, Xiao X, Yang K, Zhu Y, Jin H. Bioinspired handheld time-share driven robot with expandable DoFs. Nat Commun 2024; 15:768. [PMID: 38278829 PMCID: PMC10817928 DOI: 10.1038/s41467-024-44993-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/13/2023] [Accepted: 01/11/2024] [Indexed: 01/28/2024] Open
Abstract
Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as "nerves", connect to motion modules, enabling the selection of the activated module. The robot contains a 202-gram motor base and a 0.8 cm diameter manipulator comprised of sequentially linked bending modules (BM). The manipulator can be tailored in length and integrated with various instruments in situ, facilitating non-invasive access and high-dexterous operation at remote surgical sites. The applicability was demonstrated in clinical scenarios, where a surgeon held the robot to conduct transluminal experiments on a human stomach model and an ex vivo porcine stomach. The time-share driven mechanism offers a pragmatic approach to build a multi-degree-of-freedom robot for broader applications.
Collapse
Affiliation(s)
- Yunjiang Wang
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Xinben Hu
- Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China
- Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases, 310005, Hangzhou, China
| | - Luhang Cui
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Xuan Xiao
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Keji Yang
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China
| | - Yongjian Zhu
- Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China.
- Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases, 310005, Hangzhou, China.
| | - Haoran Jin
- Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.
| |
Collapse
|
4
|
Yip M, Salcudean S, Goldberg K, Althoefer K, Menciassi A, Opfermann JD, Krieger A, Swaminathan K, Walsh CJ, Huang HH, Lee IC. Artificial intelligence meets medical robotics. Science 2023; 381:141-146. [PMID: 37440630 DOI: 10.1126/science.adj3312] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/15/2023]
Abstract
Artificial intelligence (AI) applications in medical robots are bringing a new era to medicine. Advanced medical robots can perform diagnostic and surgical procedures, aid rehabilitation, and provide symbiotic prosthetics to replace limbs. The technology used in these devices, including computer vision, medical image analysis, haptics, navigation, precise manipulation, and machine learning (ML) , could allow autonomous robots to carry out diagnostic imaging, remote surgery, surgical subtasks, or even entire surgical procedures. Moreover, AI in rehabilitation devices and advanced prosthetics can provide individualized support, as well as improved functionality and mobility (see the figure). The combination of extraordinary advances in robotics, medicine, materials science, and computing could bring safer, more efficient, and more widely available patient care in the future. -Gemma K. Alderton.
Collapse
Affiliation(s)
- Michael Yip
- Electrical and Computer Engineering, University of California San Diego, La Jolla, CA, USA
| | - Septimiu Salcudean
- Electrical and Computer Engineering, University of British Columbia, Vancouver, BC, Canada
| | - Ken Goldberg
- Department of Industrial Engineering and Operations Research and Department of Electrical Engineering and Computer Sciences, University of California, Berkeley, Berkeley, CA, USA
| | - Kaspar Althoefer
- School of Engineering and Materials Science, Queen Mary University of London, London, UK
| | - Arianna Menciassi
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, Pisa, Italy
| | - Justin D Opfermann
- Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Axel Krieger
- Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
- Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA
| | - Krithika Swaminathan
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Boston, MA, USA
| | - Conor J Walsh
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Boston, MA, USA
| | - He Helen Huang
- Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, USA
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA
| | - I-Chieh Lee
- Joint Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, USA
- Joint Department of Biomedical Engineering, University of North Carolina at Chapel Hill, Chapel Hill, NC, USA
| |
Collapse
|
5
|
Mehedi IM, Rao KP, Alotaibi FM, Alkanfery HM. Intelligent Wireless Capsule Endoscopy for the Diagnosis of Gastrointestinal Diseases. Diagnostics (Basel) 2023; 13:diagnostics13081445. [PMID: 37189546 DOI: 10.3390/diagnostics13081445] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/18/2023] [Revised: 04/08/2023] [Accepted: 04/15/2023] [Indexed: 05/17/2023] Open
Abstract
Through a wireless capsule endoscope (WCE) fitted with a miniature camera (about an inch), this study aims to examine the role of wireless capsule endoscopy (WCE) in the diagnosis, monitoring, and evaluation of GI (gastrointestinal) disorders. In a wearable belt recorder, a capsule travels through the digestive tract and takes pictures. It attempts to find tiny components that can be used to enhance the WCE. To accomplish this, we followed the steps below: Researching current capsule endoscopy through databases, designing and simulating the device using computers, implanting the system and finding tiny components compatible with capsule size, testing the system and eliminating noise and other problems, and analyzing the results. In the present study, it was shown that a spherical WCE shaper and a smaller WCE with a size of 13.5 diameter, a high resolution, and a high frame rate (8-32 fps) could help patients with pains due to the traditional capsules and provide more accurate pictures as well as prolong the battery life. In addition, the capsule can also be used to reconstruct 3D images. Simulation experiments showed that spherical endoscopic devices are more advantageous than commercial capsule-shaped endoscopic devices for wireless applications. We found that the sphere's velocity through the fluid was greater than the capsule's.
Collapse
Affiliation(s)
- Ibrahim M Mehedi
- Department of Electrical and Computer Engineering (ECE), King Abdulaziz University, Jeddah 21589, Saudi Arabia
- Center of Excellence in Intelligent Engineering Systems (CEIES), King Abdulaziz University, Jeddah 21589, Saudi Arabia
| | - K Prahlad Rao
- Department of Electrical and Computer Engineering (ECE), King Abdulaziz University, Jeddah 21589, Saudi Arabia
| | - Fahad Mushhabbab Alotaibi
- Department of Electrical and Computer Engineering (ECE), King Abdulaziz University, Jeddah 21589, Saudi Arabia
| | - Hadi Mohsen Alkanfery
- Department of Electrical and Computer Engineering (ECE), King Abdulaziz University, Jeddah 21589, Saudi Arabia
| |
Collapse
|
6
|
Kim HJ, Sritandi W, Xiong Z, Ho JS. Bioelectronic devices for light-based diagnostics and therapies. BIOPHYSICS REVIEWS 2023; 4:011304. [PMID: 38505817 PMCID: PMC10903427 DOI: 10.1063/5.0102811] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/13/2022] [Accepted: 12/28/2022] [Indexed: 03/21/2024]
Abstract
Light has broad applications in medicine as a tool for diagnosis and therapy. Recent advances in optical technology and bioelectronics have opened opportunities for wearable, ingestible, and implantable devices that use light to continuously monitor health and precisely treat diseases. In this review, we discuss recent progress in the development and application of light-based bioelectronic devices. We summarize the key features of the technologies underlying these devices, including light sources, light detectors, energy storage and harvesting, and wireless power and communications. We investigate the current state of bioelectronic devices for the continuous measurement of health and on-demand delivery of therapy. Finally, we highlight major challenges and opportunities associated with light-based bioelectronic devices and discuss their promise for enabling digital forms of health care.
Collapse
Affiliation(s)
| | - Weni Sritandi
- Department of Electrical and Computer Engineering, National University of Singapore, Singapore
| | | | - John S. Ho
- Author to whom correspondence should be addressed:
| |
Collapse
|
7
|
Yun G, Cole T, Zhang Y, Zheng J, Sun S, Ou-yang Y, Shu J, Lu H, Zhang Q, Wang Y, Pham D, Hasan T, Li W, Zhang S, Tang SY. Electro-mechano responsive elastomers with self-tunable conductivity and stiffness. SCIENCE ADVANCES 2023; 9:eadf1141. [PMID: 36696510 PMCID: PMC9876544 DOI: 10.1126/sciadv.adf1141] [Citation(s) in RCA: 5] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/29/2022] [Accepted: 12/27/2022] [Indexed: 06/17/2023]
Abstract
Materials with programmable conductivity and stiffness offer new design opportunities for next-generation engineered systems in soft robotics and electronic devices. However, existing approaches fail to harness variable electrical and mechanical properties synergistically and lack the ability to self-respond to environmental changes. We report an electro-mechano responsive Field's metal hybrid elastomer exhibiting variable and tunable conductivity, strain sensitivity, and stiffness. By synergistically harnessing these properties, we demonstrate two applications with over an order of magnitude performance improvement compared to state-of-the-art, including a self-triggered multiaxis compliance compensator for robotic manipulators, and a resettable, highly compact, and fast current-limiting fuse with an adjustable fusing current. We envisage that the extraordinary electromechanical properties of our hybrid elastomer will bring substantial advancements in resilient robotic systems, intelligent instruments, and flexible electronics.
Collapse
Affiliation(s)
- Guolin Yun
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
- Cambridge Graphene Centre, University of Cambridge, Cambridge, UK
- Department of Electronic, Electrical, and Systems Engineering, University of Birmingham, Birmingham, UK
| | - Tim Cole
- Department of Electronic, Electrical, and Systems Engineering, University of Birmingham, Birmingham, UK
| | - Yuxin Zhang
- Department of Electronic, Electrical, and Systems Engineering, University of Birmingham, Birmingham, UK
| | - Jiahao Zheng
- Department of Electronic, Electrical, and Systems Engineering, University of Birmingham, Birmingham, UK
| | - Shuaishuai Sun
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
| | - Yiming Ou-yang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
| | - Jian Shu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
| | - Hongda Lu
- School of Mechanical, Materials, Mechatronic, and Biomedical Engineering, University of Wollongong, Wollongong, Australia
| | - Qingtian Zhang
- School of Mechanical, Materials, Mechatronic, and Biomedical Engineering, University of Wollongong, Wollongong, Australia
| | - Yongjing Wang
- Department of Mechanical Engineering, University of Birmingham, Birmingham, UK
| | - Duc Pham
- Department of Mechanical Engineering, University of Birmingham, Birmingham, UK
| | - Tawfique Hasan
- Cambridge Graphene Centre, University of Cambridge, Cambridge, UK
| | - Weihua Li
- School of Mechanical, Materials, Mechatronic, and Biomedical Engineering, University of Wollongong, Wollongong, Australia
| | - Shiwu Zhang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
| | - Shi-Yang Tang
- Department of Electronic, Electrical, and Systems Engineering, University of Birmingham, Birmingham, UK
| |
Collapse
|
8
|
Culmone C, Yikilmaz FS, Trauzettel F, Breedveld P. Follow-The-Leader Mechanisms in Medical Devices: A Review on Scientific and Patent Literature. IEEE Rev Biomed Eng 2023; 16:439-455. [PMID: 34543205 DOI: 10.1109/rbme.2021.3113395] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Conventional medical instruments are not capable of passing through tortuous anatomy as required for natural orifice transluminal endoscopic surgery due to their rigid shaft designs. Nevertheless, developments in minimally invasive surgery are pushing medical devices to become more dexterous. Amongst devices with controllable flexibility, so-called Follow-The-Leader (FTL) devices possess motion capabilities to pass through confined spaces without interacting with anatomical structures. The goal of this literature study is to provide a comprehensive overview of medical devices with FTL motion. A scientific and patent literature search was performed in five databases (Scopus, PubMed, Web of Science, IEEExplore, Espacenet). Keywords were used to isolate FTL behavior in devices with medical applications. Ultimately, 35 unique devices were reviewed and categorized. Devices were allocated according to their design strategies to obtain the three fundamental sub-functions of FTL motion: steering, (controlling the leader/end-effector orientation), propagation, (advancing the device along a specific path), and conservation (memorizing the shape of the path taken by the device). A comparative analysis of the devices was carried out, showing the commonly used design choices for each sub-function and the different combinations. The advantages and disadvantages of the design aspects and an overview of their performance were provided. Devices that were initially assessed as ineligible were considered in a possible medical context or presented with FTL potential, broadening the classification. This review could aid in the development of a new generation of FTL devices by providing a comprehensive overview of the current solutions and stimulating the search for new ones.
Collapse
|
9
|
Static Modeling of a Class of Stiffness-Adjustable Snake-Like Robots with Gravity Compensation. ROBOTICS 2022. [DOI: 10.3390/robotics12010002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/24/2022] Open
Abstract
Stiffness-adjustable snake-like robots have been proposed for various applications, including minimally invasive surgery. Based on a variable neutral-line mechanism, previous works proposed a class of snake-like robots that can adjust their stiffness by changing the driving cables’ tensions. A constant curvature hypothesis was used to formulate such robots’ kinematics and was further verified by our previous work via rigorous force analysis and ADAMS simulations. However, all these models and analyses have ignored the effect of the robot links’ gravity, resulting in significant errors in real systems. In this paper, a static model considering gravity compensation is proposed for the stiffness-adjustable snake-like robots. The proposed model adopts a nonlinear Gauss–Seidel iteration scheme and consists of two parts: gravity update and pose estimation. In each iteration, the former updates the payload of each link caused by gravity, and the latter estimates the pose of the robot by refreshing the angle and position values. This iteration stops when the change in the tip position is less than a pre-set error ϵ. During the above process, the only dependent information is each cable’s tension. Simulations and experiments are carried out to verify the effectiveness of the proposed model. The impact of gravity is found to increase with growing material densities in the simulations. The experimental results further indicate that compared with a model without gravity compensation, our model reduces the tip estimation error by 91.5% on average.
Collapse
|
10
|
Chen M, Li P, Wang R, Xiang Y, Huang Z, Yu Q, He M, Liu J, Wang J, Su M, Zhang M, Jian A, Ouyang J, Zhang C, Li J, Dong M, Zeng S, Wu J, Hong P, Hou C, Zhou N, Zhang D, Zhou H, Tao G. Multifunctional Fiber-Enabled Intelligent Health Agents. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200985. [PMID: 35820163 DOI: 10.1002/adma.202200985] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/29/2022] [Revised: 03/31/2022] [Indexed: 06/15/2023]
Abstract
The application of wearable devices is promoting the development toward digitization and intelligence in the field of health. However, the current smart devices centered on human health have disadvantages such as weak perception, high interference degree, and unfriendly interaction. Here, an intelligent health agent based on multifunctional fibers, with the characteristics of autonomy, activeness, intelligence, and perceptibility enabling health services, is proposed. According to the requirements for healthcare in the medical field and daily life, four major aspects driven by intelligent agents, including health monitoring, therapy, protection, and minimally invasive surgery, are summarized from the perspectives of materials science, medicine, and computer science. The function of intelligent health agents is realized through multifunctional fibers as sensing units and artificial intelligence technology as a cognitive engine. The structure, characteristics, and performance of fibers and analysis systems and algorithms are reviewed, while discussing future challenges and opportunities in healthcare and medicine. Finally, based on the above four aspects, future scenarios related to health protection of a person's life are presented. Intelligent health agents will have the potential to accelerate the realization of precision medicine and active health.
Collapse
Affiliation(s)
- Min Chen
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Pan Li
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Rui Wang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Yuanzhuo Xiang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Zhiheng Huang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Qiao Yu
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Muyao He
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jia Liu
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jiaxi Wang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Minyu Su
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Manni Zhang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Aijia Jian
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jingyu Ouyang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Chenxi Zhang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jing Li
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Mengxue Dong
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Shaoning Zeng
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jiawei Wu
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Ping Hong
- Beijing Sport University, Beijing, 100091, P. R. China
| | - Chong Hou
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Optics and Electronic Information, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Ning Zhou
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Dingyu Zhang
- Hubei Provincial Health and Health Committee, Wuhan, Hubei, 430015, P. R. China
| | - Huamin Zhou
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Guangming Tao
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| |
Collapse
|
11
|
Long F, Xu G, Wang J, Ren Y, Cheng Y. Variable Stiffness Conductive Composites by 4D Printing Dual Materials Alternately. MICROMACHINES 2022; 13:1343. [PMID: 36014265 PMCID: PMC9415883 DOI: 10.3390/mi13081343] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/25/2022] [Revised: 08/09/2022] [Accepted: 08/11/2022] [Indexed: 06/15/2023]
Abstract
Materials that can be designed with programmable properties and which change in response to external stimuli are of great importance in numerous fields of soft actuators, involving robotics, drug delivery and aerospace applications. In order to improve the interaction of human and robots, materials with variable stiffness are introduced to develop their compliance. A variable stiffness composite has been investigated in this paper, which is composed of liquid metals (LMs) and silicone elastomers. The phase changing materials (LMs) have been encapsulated into silicone elastomer by printing the dual materials alternately with three-dimensional direct ink writing. Such composites enable the control over their own stiffness between soft and rigid states through LM effective phase transition. The tested splines demonstrated that the stiffness changes approximately exceeded 1900%, and the storage modulus is 4.75 MPa and 0.2 MPa when LM is rigid and soft, respectively. In the process of heating up, the stretching strain can be enlarged by at least three times, but the load capacity is weakened. At a high temperature, the resistance of the conductive composites changes with the deformation degree, which is expected to be applied in the field of soft sensing actuators.
Collapse
Affiliation(s)
- Fei Long
- Zhejiang Key Laboratory of Additive Manufacturing Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham Ningbo China, Ningbo 315100, China
- Research Group for Fluids and Thermal Engineering, University of Nottingham Ningbo China, Ningbo 315100, China
| | - Gaojie Xu
- Zhejiang Key Laboratory of Additive Manufacturing Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
| | - Jing Wang
- Department of Electrical and Electronic Engineering, University of Nottingham Ningbo China, Ningbo 315100, China
| | - Yong Ren
- Department of Mechanical, Materials and Manufacturing Engineering, University of Nottingham Ningbo China, Ningbo 315100, China
- Research Group for Fluids and Thermal Engineering, University of Nottingham Ningbo China, Ningbo 315100, China
- Key Laboratory of Carbonaceous Wastes Processing and Process Intensification Research of Zhejiang Province, University of Nottingham Ningbo China, Ningbo 315100, China
| | - Yuchuan Cheng
- Zhejiang Key Laboratory of Additive Manufacturing Materials, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, China
- Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences, Beijing 100049, China
| |
Collapse
|
12
|
Lin B, Wang J, Song S, Li B, Meng MQH. A Modular Lockable Mechanism for Tendon-Driven Robots: Design, Modeling and Characterization. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3142907] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
13
|
Hyper-Redundant Manipulator Capable of Adjusting Its Non-Uniform Curvature with Discrete Stiffness Distribution. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12010482] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/30/2023]
Abstract
Hyper-redundant manipulators are widely used in minimally invasive surgery because they can navigate through narrow passages in passive compliance with the human body. Although their stability and dexterity have been significantly improved over the years, we need manipulators that can bend with appropriate curvatures and adapt to complex environments. This paper proposes a design principle for a manipulator capable of adjusting its non-uniform curvature and predicting the bending shape. Rigid segments were serially stacked, and elastic fixtures in the form of flat springs were arranged between hinged-slide joint segments. A manipulator with a diameter of 4.5 mm and a length of 28 mm had been fabricated. A model was established to predict the bending shape through minimum potential energy theory, kinematics, and measured stiffnesses of the flat springs. A comparison of the simulation and experimental results indicated an average position error of 3.82% of the endpoints when compared to the total length. With this modification, the manipulator is expected to be widely used in various fields such as small endoscope systems and single-port robot systems.
Collapse
|
14
|
Mattmann M, De Marco C, Briatico F, Tagliabue S, Colusso A, Chen X, Lussi J, Chautems C, Pané S, Nelson B. Thermoset Shape Memory Polymer Variable Stiffness 4D Robotic Catheters. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2022; 9:e2103277. [PMID: 34723442 PMCID: PMC8728812 DOI: 10.1002/advs.202103277] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/02/2021] [Indexed: 06/13/2023]
Abstract
Variable stiffness catheters are typically composed of an encapsulated core. The core is usually composed of a low melting point alloy (LMPA) or a thermoplastic polymer (TP). In both cases, there is a need to encapsulate the core with an elastic material. This imposes a limit to the volume of variable stiffness (VS) material and limits miniaturization. This paper proposes a new approach that relies on the use of thermosetting materials. The variable stiffness catheter (VSC) proposed in this work eliminates the necessity for an encapsulation layer and is made of a unique biocompatible thermoset polymer with an embedded heating system. This significantly reduces the final diameter, improves manufacturability, and increases safety in the event of complications. The device can be scaled to sub-millimeter dimensions, while maintaining a high stiffness change. In addition, integration into a magnetic actuation system allows for precise actuation of one or multiple tools.
Collapse
Affiliation(s)
- Michael Mattmann
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Carmela De Marco
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Francesco Briatico
- Department of ChemistryMaterials and Chemical EngineeringPolitecnico di MilanoMilan20131Italy
| | - Stefano Tagliabue
- Department of ChemistryMaterials and Chemical EngineeringPolitecnico di MilanoMilan20131Italy
| | - Aron Colusso
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Xiang‐Zhong Chen
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Jonas Lussi
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Christophe Chautems
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Salvador Pané
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| | - Bradley Nelson
- Institute of Robotics and Intelligent SystemsETH ZürichTannenstrasse 3ZurichCH‐8092Switzerland
| |
Collapse
|
15
|
You JM, Kim H, Kim J, Kwon DS. Design and Analysis of High-Stiffness Hyperredundant Manipulator With Sigma-Shaped Wire Path and Rolling Joints. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3095029] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
|
16
|
McCandless M, Perry A, DiFilippo N, Carroll A, Billatos E, Russo S. A Soft Robot for Peripheral Lung Cancer Diagnosis and Therapy. Soft Robot 2021; 9:754-766. [PMID: 34357810 DOI: 10.1089/soro.2020.0127] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/05/2023] Open
Abstract
Lung cancer is one of the deadliest forms of cancers and is often diagnosed by performing biopsies with the use of a bronchoscope. However, this diagnostic procedure is limited in ability to explore deep into the periphery of the lung where cancer can remain undetected. In this study, we present design, modeling, fabrication, and testing of a one degree of freedom soft robot with integrated diagnostic and interventional capabilities as well as vision sensing. The robot can be deployed through the working channel of commercial bronchoscopes or used as a stand-alone system as it integrates a micro camera to provide vision sensing and controls to the periphery of the lung. The small diameter (2.4 mm) of the device allows navigation in branches deeper in the lung, where current devices have limited reachability. We have performed mechanical characterizations of the robotic platform, including blocked force, maximum bending angle, maximum angular velocity, and workspace, and assessed its performance in in vitro and ex vivo experiments. We have developed a computer vision algorithm, and validated it in in vitro conditions, to autonomously align the robot to a selected branch of the lung and aid the clinician (by means of a graphical user interface) during navigation tasks and to perform robot-assisted stabilization in front of a lesion, with automated tracking and alignment.
Collapse
Affiliation(s)
- Max McCandless
- Department of Mechanical Engineering, Boston University, Boston, Massachusetts, USA
| | - Alexander Perry
- Department of Mechanical Engineering, Boston University, Boston, Massachusetts, USA
| | - Nicholas DiFilippo
- Department of Mechanical Engineering, Boston University, Boston, Massachusetts, USA
| | - Ashlyn Carroll
- Department of Mechanical Engineering, Boston University, Boston, Massachusetts, USA
| | - Ehab Billatos
- Department of Pulmonology, Medical School, Boston University, Boston, Massachusetts, USA
| | - Sheila Russo
- Department of Mechanical Engineering, Boston University, Boston, Massachusetts, USA.,Materials Science and Engineering Division, Boston University, Boston, Massachusetts, USA
| |
Collapse
|
17
|
McCandless M, Gerald A, Carroll A, Aihara H, Russo S. A Soft Robotic Sleeve for Safer Colonoscopy Procedures. IEEE Robot Autom Lett 2021; 6:5292-5299. [PMID: 34027062 PMCID: PMC8132950 DOI: 10.1109/lra.2021.3073651] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023]
Abstract
Colonoscopy is the gold standard for colorectal cancer diagnosis; however, limited instrument dexterity and no sensor feedback can hamper procedure safety and acceptance. We propose a soft robotic sleeve to provide sensor feedback and additional actuation capabilities to improve safety during navigation in colonoscopy. The robot can be mounted around current endoscopic instrumentation as a disposable "add-on", avoiding the need for dedicated or customized instruments and without disrupting current surgical workflow. We focus on design, finite element analysis, fabrication, and experimental characterization and validation of the soft robotic sleeve. The device integrates soft optical sensors to monitor contact interaction forces between the colon and the colonoscope and soft robotic actuators that can be automatically deployed if excessive force is detected, to guarantee pressure redistribution on a larger contact area of the colon. The system can be operated by a surgeon via a graphic user interface that displays contact force values and enables independent or coordinated pressurization of the soft actuators upon demand, in case deemed necessary to aid navigation or distend colon tissue.
Collapse
Affiliation(s)
- Max McCandless
- Mechanical Engineering Department, Boston University, Boston, MA 02215 USA
| | - Arincheyan Gerald
- Mechanical Engineering Department, Boston University, Boston, MA 02215 USA
| | - Ashlyn Carroll
- Mechanical Engineering Department, Boston University, Boston, MA 02215 USA
| | - Hiroyuki Aihara
- Brigham and Women’s Hospital, Harvard Medical School, Boston, MA 02115 USA
| | - Sheila Russo
- Mechanical Engineering Department, Boston University, Boston, MA 02215 USA
| |
Collapse
|
18
|
Wang H, Chen Z, Zuo S. Flexible Manipulator with Low-Melting-Point Alloy Actuation and Variable Stiffness. Soft Robot 2021; 9:577-590. [PMID: 34152857 DOI: 10.1089/soro.2020.0143] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/10/2023] Open
Abstract
Flexible manipulators offer significant advantages over traditional rigid manipulators in minimally invasive surgery, because they can flexibly navigate around obstacles and pass cramped or tortuous paths. However, due to the inherent low stiffness, the ability to control/obtain higher stiffness when required remains to be further explored. In this article, we propose a flexible manipulator that exploits the phase transformation property of low-melting-point alloy to hydraulically drive and change the stiffness by heating and cooling. A prototype was fabricated, and experiments were conducted to evaluate the motion characteristics, stiffness performance, and rigid-flexible transition efficiency. The experimental results demonstrate that the proposed manipulator can freely adjust heading direction in the three-dimensional space. The experimental results also indicate that it took 9.2-10.3 s for the manipulator to transform from a rigid state to a flexible state and 15.4 s to transform from a flexible state to a rigid state. The lateral stiffness and flexural stiffness of the manipulator were 95.54 and 372.1 Ncm2 in the rigid state and 7.26 and 0.78 Ncm2 in the flexible state. The gain of the lateral stiffness and flexural stiffness was 13.15 and 477.05, respectively. In the rigid state, the ultimate force without shape deformation was more than 0.98 N in the straight condition (0°) and 1.36 N in the bending condition (90°). By assembling flexible surgical tools, the manipulator can enrich the diagnosis or treatment functions, which demonstrated the potential clinical value of the proposed manipulator.
Collapse
Affiliation(s)
- Haibo Wang
- Key Lab of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
| | - Zhiwei Chen
- Key Lab of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
| | - Siyang Zuo
- Key Lab of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin University, Tianjin, China
| |
Collapse
|
19
|
A Novel Design of Water-Activated Variable Stiffness Endoscopic Manipulator with Safe Thermal Insulation. ACTUATORS 2021. [DOI: 10.3390/act10060130] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
In natural orifice transluminal endoscopic surgery (NOTES), an ideal endoscope platform should be flexible and dexterous enough to go through the natural orifices to access the lesion site inside the human body, and meanwhile provide sufficient rigidity to serve as a base for the end-effectors to operate during the surgical tasks. However, the conventional endoscope has limited ability for maintaining high rigidity over the length of the body. This paper presents a novel design of a variable stiffness endoscopic manipulator. By using a new bioplastic named FORMcard, whose stiffness can be thermally adjusted, water at different temperatures is employed to switch the manipulator between rigid mode and flexible mode. A biocompatible microencapsulated phase change material (MEPCM) with latent heat storage properties is adopted as the thermal insulation for better safety. Experiments are conducted to test the concept design, and the validated advantages of our proposed variable stiffness endoscopic manipulator include: shorter mode activation time (25 s), significantly improved stiffness in rigid mode (547.9–926.3 N·cm2) and larger stiffness-adjusting ratio (23.9–25.1 times).
Collapse
|
20
|
Li DCF, Wang Z, Zhou J, Liu YH. Honeycomb Jamming: An Enabling Technology of Variable Stiffness Reconfiguration. Soft Robot 2021; 8:720-734. [PMID: 33769093 DOI: 10.1089/soro.2019.0188] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Jamming technologies are one of the promising approaches of variable stiffness mechanisms. However, there are problems limiting the broad application of jamming-based approaches such as a limited stiffening capacity and restricted stiffening position. This article presents a variable stiffness mechanism to achieve a rapid flexible to rigid state transition with biocompatibility, fail-safe design, and enhanced stiffening capacity. A novel strategy of reconfiguration of stiffening regions, which is entitled variable stiffness reconfiguration, is exploited to control not only the stiffnesses but also the positions and areas of the stiffening regions. At first, this article provides a new approach to the variable stiffness soft robotics community to enable both stiffness control and stiffening region adjustment. In this way, additional functions of the variable stiffness mechanisms including reproducing complex manipulator postures or customizing the soft gripper, through delivering functional units into or out of the devices, are demonstrated. Through reconfiguration, our design provides a generally applicable solution for a wide range of complex manipulator postures reproduced and objects grasped by reconfiguration of the stiffening regions. The variable stiffness mechanism is empirically evaluated with a comparison with other variable stiffness strategies in which the proposed solution shows greater stiffening capability, and an experimental search of optimal parameters of the honeycomb structure is presented. Finite element models, which have shown reasonable agreement with the empirical results, are constructed to model the stiffnesses, and an analytic model of the manipulator is derived to predict the posture.
Collapse
Affiliation(s)
- Dickson Chun Fung Li
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, China
| | - Zerui Wang
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, China
| | - Jianshu Zhou
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, China.,Hong Kong Center for Logistics Robotics, Hong Kong, China
| | - Yun-Hui Liu
- Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Shatin, Hong Kong, China.,Hong Kong Center for Logistics Robotics, Hong Kong, China
| |
Collapse
|
21
|
Programmable Stimuli-Responsive Actuators for Complex Motions in Soft Robotics: Concept, Design and Challenges. ACTUATORS 2020. [DOI: 10.3390/act9040131] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
During the last years, great progress was made in material science in terms of concept, design and fabrication of new composite materials with conferred properties and desired functionalities. The scientific community paid particular interest to active soft materials, such as soft actuators, for their potential as transducers responding to various stimuli aiming to produce mechanical work. Inspired by this, materials engineers today are developing multidisciplinary approaches to produce new active matters, focusing on the kinematics allowed by the material itself more than on the possibilities offered by its design. Traditionally, more complex motions beyond pure elongation and bending are addressed by the robotics community. The present review targets encompassing and rationalizing a framework which will help a wider scientific audience to understand, sort and design future soft actuators and methods enabling complex motions. Special attention is devoted to recent progress in developing innovative stimulus-responsive materials and approaches for complex motion programming for soft robotics. In this context, a challenging overview of the new materials as well as their classification and comparison (performances and characteristics) are proposed. In addition, the great potential of soft transducers are outlined in terms of kinematic capabilities, illustrated by the related application. Guidelines are provided to design actuators and to integrate asymmetry enabling motions along any of the six basic degrees of freedom (translations and rotations), and strategies towards the programming of more complex motions are discussed. As a final note, a series of manufacturing methods are described and compared, from molding to 3D and 4D printing. The review ends with a Perspectives section, from material science and microrobotic points of view, on the soft materials’ future and close future challenges to be overcome.
Collapse
|
22
|
The MemoFlex II, a non-robotic approach to follow-the-leader motion of a snake-like instrument for surgery using four predetermined physical tracks. Med Eng Phys 2020; 86:86-95. [DOI: 10.1016/j.medengphy.2020.10.013] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/10/2019] [Revised: 08/13/2020] [Accepted: 10/25/2020] [Indexed: 11/18/2022]
|
23
|
Lu J, Du F, Yang F, Zhang T, Lei Y, Wang J. Kinematic modeling of a class of n-tendon continuum manipulators. Adv Robot 2020. [DOI: 10.1080/01691864.2020.1812427] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/23/2022]
Affiliation(s)
- Jiajia Lu
- School of Mechanical Engineering, Shandong University, Jinan, People’s Republic of China
- Key Laboratory of High-efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education Shandong University, Jinan, People’s Republic of China
| | - Fuxin Du
- School of Mechanical Engineering, Shandong University, Jinan, People’s Republic of China
- Key Laboratory of High-efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education Shandong University, Jinan, People’s Republic of China
| | - Fuchun Yang
- School of Mechanical Engineering, Shandong University, Jinan, People’s Republic of China
- Key Laboratory of High-efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education Shandong University, Jinan, People’s Republic of China
| | - Tao Zhang
- School of Mechanical Engineering, Shandong University, Jinan, People’s Republic of China
- Key Laboratory of High-efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education Shandong University, Jinan, People’s Republic of China
| | - Yanqiang Lei
- School of Control Science and Engineering, Shandong University, Jinan, People’s Republic of China
| | - Jianjun Wang
- School of Mechanical Engineering, Shandong University, Jinan, People’s Republic of China
| |
Collapse
|
24
|
Sushma B, Aparna P. Distributed video coding based on classification of frequency bands with block texture conditioned key frame encoder for wireless capsule endoscopy. Biomed Signal Process Control 2020. [DOI: 10.1016/j.bspc.2020.101940] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
|
25
|
Ibrahimi M, Paternò L, Ricotti L, Menciassi A. A Layer Jamming Actuator for Tunable Stiffness and Shape-Changing Devices. Soft Robot 2020; 8:85-96. [PMID: 32456553 DOI: 10.1089/soro.2019.0182] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/27/2022] Open
Abstract
Changing the shape and the stiffness of a device in a dynamic and controlled way enables important advancements in the field of robotics and wearable robotics. Variable stiffness materials and technologies can be used to address this challenge. In particular, layer jamming actuation is a very promising technology, featured by high efficiency and low cost. In this article, a stiffness- and shape-changing device based on a novel mechanism including a multiple-chamber structure is proposed. It allows to effectively modulate the shape and stiffness of a device, by activating two jamming chambers while pressurizing/depressurizing one or more interposed inflatable chambers. Prototypes with a size of 45 × 270 mm2 and an average thickness ranging from 4.4 to 13 mm were developed and their ability to undergo a stiffness change over two orders of magnitude was demonstrated. The prototypes were also able to change their shape according to the position and inflation level of the interposed inflatable chambers, thus resulting in an overall deflection >10 mm. The possibility to wear the system as an orthotic brace was also demonstrated: this technology increased the patient comfort in static positions, yet keeping a supportive function when needed (e.g., in dynamic conditions). The device working principle highlighted in this article could also be exploited in other domains, for example, to build walking soft robots, prostheses, or grippers, as demonstrated through additional tests.
Collapse
Affiliation(s)
- Michele Ibrahimi
- The Biorobotics Institute, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy.,Department of Excellence in Robotics & AI, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy
| | - Linda Paternò
- The Biorobotics Institute, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy.,Department of Excellence in Robotics & AI, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy
| | - Leonardo Ricotti
- The Biorobotics Institute, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy.,Department of Excellence in Robotics & AI, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy
| | - Arianna Menciassi
- The Biorobotics Institute, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy.,Department of Excellence in Robotics & AI, Scuola Superiore di Studi Universitari e di Perfezionamento Sant'Anna, Pontedera, Italy
| |
Collapse
|
26
|
Kitano S, Komatsuzaki T, Suzuki I, Nogawa M, Naito H, Tanaka S. Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds-Toward a Multijoint Manipulator for Laparoscopic Surgery. Front Robot AI 2020; 7:59. [PMID: 33501227 PMCID: PMC7805682 DOI: 10.3389/frobt.2020.00059] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/10/2020] [Accepted: 04/07/2020] [Indexed: 12/04/2022] Open
Abstract
Laparoscopic surgery is a representative operative method of minimally invasive surgery. However, most laparoscopic hand instruments consist of rigid and straight structures, which have serious limitations such as interference by the instruments and limited field of view of the endoscope. To improve the flexibility and dexterity of these instruments, we propose a new concept of a multijoint manipulator using a variable stiffness mechanism. The manipulator uses a magneto-rheological compound (MRC) whose rheological properties can be tuned by an external magnetic field. In this study, we changed the shape of the electromagnet and MRC to improve the performance of the variable stiffness joint we previously fabricated; further, we fabricated a prototype and performed basic evaluation of the joint using this prototype. The MRC was fabricated by mixing carbonyl iron particles and glycerol. The prototype single joint was assembled by combining MRC and electromagnets. The configuration of the joint indicates that it has a closed magnetic circuit. To examine the basic properties of the joint, we conducted preliminary experiments such as elastic modulus measurement and rigidity evaluation. We confirmed that the elastic modulus increased when a magnetic field was applied. The rigidity of the joint was also verified under bending conditions. Our results confirmed that the stiffness of the new joint changed significantly compared with the old joint depending on the presence or absence of a magnetic field, and the performance of the new joint also improved.
Collapse
Affiliation(s)
- Sousaku Kitano
- Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa, Japan
| | - Toshihiko Komatsuzaki
- Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa, Japan
| | - Ikuto Suzuki
- Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa, Japan
| | - Masamichi Nogawa
- Department of Clinical Engineering, Faculty of Health Sciences, Komatsu University, Komatsu, Japan
| | - Hisashi Naito
- Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa, Japan
| | - Shinobu Tanaka
- Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa, Japan
| |
Collapse
|
27
|
Le HM, Phan PT, Lin C, Jiajun L, Phee SJ. A Temperature-Dependent, Variable-Stiffness Endoscopic Robotic Manipulator with Active Heating and Cooling. Ann Biomed Eng 2020; 48:1837-1849. [DOI: 10.1007/s10439-020-02495-z] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/18/2019] [Accepted: 03/20/2020] [Indexed: 02/01/2023]
|
28
|
Zhang Y, Lu M. A review of recent advancements in soft and flexible robots for medical applications. Int J Med Robot 2020; 16:e2096. [PMID: 32091642 DOI: 10.1002/rcs.2096] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/16/2019] [Revised: 02/05/2020] [Accepted: 02/19/2020] [Indexed: 11/06/2022]
Abstract
BACKGROUND Soft and flexible robots for medical applications are needed to change their flexibility over a wide range to perform tasks adequately. The mechanism and theory of flexibility has been a scientific issue and is of interest to the community. METHODS Recent advancements of bionics, flexible actuation, sensing, and intelligent control algorithms as well as tunable stiffness have been referenced when soft and flexible robots are developed. The benefits and limitations of these relevant studies and how they affect the flexibility are discussed, and possible research directions are explored. RESULTS The bionic materials and structures that demonstrate the potential capabilities of the soft medical robot flexibility are the fundamental guarantee for clinical medical applications. Flexible actuation that used to provide power, intelligent control algorithms which are the exact executors, and the wide range stiffness of the soft materials are the three important influence factors for soft medical robots. CONCLUSION Some reasonable suggestions and possible solutions for soft and flexible medical robots are proposed, including novel materials, flexible actuation concepts with a built-in source of energy or power, programmable flexibility, and adjustable stiffness.
Collapse
Affiliation(s)
- Yongde Zhang
- Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China
| | - Mingyue Lu
- Intelligent Machine Institute, Harbin University of Science and Technology, Harbin, China
| |
Collapse
|
29
|
Gifari MW, Naghibi H, Stramigioli S, Abayazid M. A review on recent advances in soft surgical robots for endoscopic applications. Int J Med Robot 2019; 15:e2010. [PMID: 31069938 PMCID: PMC6771908 DOI: 10.1002/rcs.2010] [Citation(s) in RCA: 27] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/17/2018] [Revised: 04/30/2019] [Accepted: 04/30/2019] [Indexed: 12/14/2022]
Abstract
BACKGROUND Soft materials, with their compliant properties, enable conformity and safe interaction with human body. With the advance in actuation and sensing of soft materials, new paradigm in robotics called "soft robotics" emerges. Soft robotics has become a new approach in designing medical devices such as wearable robotic gloves and exoskeleton. However, application of soft robotics in surgical instrument inside human body is still in its infancy. AIMS In this paper, current application and design of soft robots specifically applied for endoscopy are reviewed. MATERIALS & METHODS Different aspects in the implementation of soft robotics in endoscope design were reviewed. The key studies about MIS and NOTES were reviewed to establish the clinical background and extract the limitations of current endoscopic device in the last decade. RESULTS AND DISCUSSION In this review study, the implementation of soft robotics concepts in endoscopic application, with highlights on different features of several soft endoscopes, were evaluated. The progress in different aspects of soft robotics endoscope, current state, and future perspectives were also discussed. CONCLUSION Based on the survey on the structural specification, actuation, sensing, and stiffening the future soft surgical endoscopes are recommended to fulfil the following specifications: safe especially from pressure leakage, fully biocompatible materials, MR-compatible, capable for large bending in at least two antagonistic directions, modularity, adjustable stiffness.
Collapse
Affiliation(s)
| | - Hamid Naghibi
- Robotics and MechatronicsUniversiteit TwenteEnschedeNetherlands
| | | | - Momen Abayazid
- Robotics and MechatronicsUniversiteit TwenteEnschedeNetherlands
| |
Collapse
|
30
|
Henselmans PW, Smit G, Breedveld P. Mechanical Follow-the-Leader motion of a hyper-redundant surgical instrument: Proof-of-concept prototype and first tests. Proc Inst Mech Eng H 2019; 233:1141-1150. [PMID: 31526098 PMCID: PMC6791023 DOI: 10.1177/0954411919876466] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
One of the most prominent drivers in the development of surgical procedures is the will to reduce their invasiveness, attested by minimally invasive surgery being the gold standards in many surgical procedures and natural orifices transluminal endoscopic surgery gaining acceptance. A logical next step in this pursuit is the introduction of hyper-redundant instruments that can insert themselves along multi-curved paths referred to as Follow-the-Leader motion. In the current state of the art, two different types of Follow-the-Leader instruments can be distinguished. One type of instrument is robotized; the movements of the shaft are controlled from outside the patient by actuators, for example, electric motors, and a controller storing a virtual track of the desired path. The other type of instrument is more mechanical; the movements of the shaft are controlled from inside the patient by a physical track that guides the shaft along the desired path. While in the robotized approach all degrees of freedom of the shaft require an individual actuator, the mechanical approach makes the number of degrees of freedom independent from the number of actuators. A desirable feature as an increasing number of actuators will inevitably drive up costs and increase the footprint of an instrument. Building the physical track inside the body does, however, impede miniaturization of the shaft’s diameter. This article introduces a new fully mechanical approach for Follow-the-Leader motion using a pre-determined physical track that is placed outside the body. This new approach was validated with a prototype called MemoFlex, which supports a Ø5 mm shaft (standard size in minimally invasive surgery) that contains 28-degrees-of-freedom and utilizes a simple steel rod as its physical track. Even though the performance of the MemoFlex leaves room for improvement, especially when following multiple curves, it does validate the proposed concept for Follow-the-Leader motion in three-dimensional space.
Collapse
Affiliation(s)
- Paul Wj Henselmans
- Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands
| | - Gerwin Smit
- Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands
| | - Paul Breedveld
- Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands
| |
Collapse
|
31
|
Abstract
Soft robotic devices have desirable traits for applications in minimally invasive surgery (MIS), but many interdisciplinary challenges remain unsolved. To understand current technologies, we carried out a keyword search using the Web of Science and Scopus databases, applied inclusion and exclusion criteria, and compared several characteristics of the soft robotic devices for MIS in the resulting articles. There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities. We propose a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.
Collapse
Affiliation(s)
- Mark Runciman
- Human-Centred Automation, Robotics and Monitoring in Surgery (HARMS) Lab, Department of Surgery and Cancer, Imperial College London, London, United Kingdom
| | - Ara Darzi
- Department of Surgery and Cancer, Imperial College London, London, United Kingdom
| | - George P. Mylonas
- Human-Centred Automation, Robotics and Monitoring in Surgery (HARMS) Lab, Department of Surgery and Cancer, Imperial College London, London, United Kingdom
| |
Collapse
|
32
|
|
33
|
Taylor AJ, Slutzky T, Feuerman L, Ren H, Tokuda J, Nilsson K, Tse ZTH. MR-Conditional SMA-Based Origami Joint. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2019; 24:883-888. [PMID: 32774079 PMCID: PMC7413301 DOI: 10.1109/tmech.2019.2891993] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create slimline devices that can be inserted through small incisions. Origami also has the potential to cut costs by reducing the amount of material required for assembly. Origami devices are especially suitable for MRI-guided procedures, where instruments must be nonmagnetic because origami is more suitable for flexible, non-metallic materials. MR conditional surgical instruments enable intraoperative MRI procedures that provide superior imaging capabilities to physicians to allow for safer procedures. This work presents an MR conditional joint developed using origami techniques that reduces costs by eliminating assembly of various components and has potential applications in endoscopy. The joint is a compliant rolling-contact element that employs curved-folding origami techniques. A chain of these joints can be constructed from a single sheet of material, eliminating assembly of numerous materials to produce a final product, which is specifically advantageous for constructing low-cost, disposable surgical devices. The prototype contains a degree of bending of ±9 degrees per joint, a response time of less than 4 seconds and an actuation force of 0.5 N using a 1.25 A current. The MRI results showed a minimal artifact of less than 1 mm measured from the boundary of the joint chain and a SNR reduction of less than 10%.
Collapse
Affiliation(s)
- Austin J Taylor
- College of Electrical and Computer Engineering, University of Georgia, Athens, GA 30602 USA
| | | | - Leah Feuerman
- Department of Physics, Occidental College, Los Angeles, CA 90041 USA
| | - Hongliang Ren
- Department of Biomedical Engineering, National University of Singapore, Singapore 119077
| | - Junichi Tokuda
- Department of Radiology, Brigham and Women's Hospital, Boston MA 02115 USA
| | - Kent Nilsson
- Department of Cardiology, Piedmont Athens Regional, Athens, GA 30606
| | - Zion Tsz Ho Tse
- College of Electrical and Computer Engineering, University of Georgia, Athens, GA 30602 USA
| |
Collapse
|
34
|
Taghavi M, Helps T, Huang B, Rossiter J. 3D-Printed Ready-To-Use Variable-Stiffness Structures. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2812917] [Citation(s) in RCA: 20] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
|
35
|
Abstract
Added to their high dexterity and ability to conform to complex shapes, continuum robots can be further improved to provide safer interaction with their environment. Indeed, controlling their stiffness is one of the most challenging yet promising research topics. We propose a tubular stiffening sheath as a replaceable cover for small-diameter continuum robots to temporarily increase the stiffness in a certain configuration. In this article, we assess and compare performances of two different stiffening modalities: granular and layer jamming, provide arguments for material selection and experimental results for stiffness with respect to lateral and axial applied forces. Furthermore, we detected empirically additional effects relating sheath stiffness to material parameters and added to recent investigations in the state of the art, which are based exclusively on material roughness. Finally, we integrated the selected layer jamming material in a miniaturized sheath (13 mm outer diameter, 2.5 mm wall thickness) and covered a tendon-actuated continuum robot with it. Experimental characterization of the behavior with respect to applied external forces was performed via stiffness measurements and proved that the initial tendon-actuated continuum robot stiffness can be improved by a factor up to 24.
Collapse
Affiliation(s)
- Marlene Langer
- Laboratory for Continuum Robotics, Leibniz Universität Hannover , Hanover, Germany
| | - Ernar Amanov
- Laboratory for Continuum Robotics, Leibniz Universität Hannover , Hanover, Germany
| | | |
Collapse
|
36
|
Kim Y, Cheng SS, Desai JP. Active Stiffness Tuning of a Spring-based Continuum Robot for MRI-Guided Neurosurgery. IEEE T ROBOT 2018; 34:18-28. [PMID: 29434530 DOI: 10.1109/tro.2017.2750692] [Citation(s) in RCA: 17] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Deep intracranial tumor removal can be achieved if the neurosurgical robot has sufficient flexibility and stability. Towards achieving this goal, we have developed a spring-based continuum robot, namely a Minimally Invasive Neurosurgical Intracranial Robot (MINIR-II) with novel tendon routing and tunable stiffness for use in a magnetic resonance imaging (MRI) environment. The robot consists of a pair of springs in parallel, i.e., an inner inter-connected spring that promotes flexibility with decoupled segment motion and an outer spring that maintains its smooth curved shape during its interaction with the tissue. We propose a shape memory alloy (SMA) spring backbone that provides local stiffness control and a tendon routing configuration that enables independent segment locking. In this work, we also present a detailed local stiffness analysis of the SMA backbone and model the relationship between the resistive force at the robot tip and the tension in the tendon. We also demonstrate through experiments, the validity of our local stiffness model of the SMA backbone and the correlation between the tendon tension and the resistive force. We also performed MRI compatibility studies of the 3-segment MINIR-II robot by attaching it to a robotic platform that consists of SMA spring actuators with integrated water cooling modules.
Collapse
Affiliation(s)
- Yeongjin Kim
- Department of Mechanical Engineering, Incheon National University, 8-204 119, Academy-ro, Yeonsu-gu, Incheon, Republic of Korea
| | - Shing Shin Cheng
- Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Jaydev P Desai
- Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
| |
Collapse
|
37
|
Diodato A, Brancadoro M, De Rossi G, Abidi H, Dall’Alba D, Muradore R, Ciuti G, Fiorini P, Menciassi A, Cianchetti M. Soft Robotic Manipulator for Improving Dexterity in Minimally Invasive Surgery. Surg Innov 2018; 25:69-76. [DOI: 10.1177/1553350617745953] [Citation(s) in RCA: 31] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Affiliation(s)
| | | | - Giacomo De Rossi
- Department of Computer Science, University of Verona, Verona, Italy
| | - Haider Abidi
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Diego Dall’Alba
- Department of Computer Science, University of Verona, Verona, Italy
| | | | - Gastone Ciuti
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Paolo Fiorini
- Department of Computer Science, University of Verona, Verona, Italy
| | | | | |
Collapse
|
38
|
Alam MW, Hasan MM, Mohammed SK, Deeba F, Wahid KA. Are Current Advances of Compression Algorithms for Capsule Endoscopy Enough? A Technical Review. IEEE Rev Biomed Eng 2017; 10:26-43. [PMID: 28961125 DOI: 10.1109/rbme.2017.2757013] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
The recent technological advances in capsule endoscopy system have revolutionized the healthcare system by introducing new techniques and functionalities to diagnose gastrointestinal tract. These techniques improve diagnostic accuracy and reduce the risk of hospitalization. Although many benefits of capsule endoscopy are known, there are still limitations including lower battery life, higher bandwidth, poor image quality and lower frame rate, which have restricted its wide use. In order to solve these limitations, the importance of a low-cost compression algorithm, that produces higher frame rate with better image quality and yet consumes lower bandwidth and transmission power, is paramount. While several review papers have been published describing the capability of capsule endoscope in terms of its functionality and emerging features, an extensive review on the compression algorithms from past and for future applications is still of great interest. Hence, in this review, we aim to address the issue by exploring the characteristics of endoscopic images, analyzing the strengths and weaknesses of useful compression techniques, and making suggestions for possible future adaptation.
Collapse
|
39
|
De Falco I, Cianchetti M, Menciassi A. A soft multi-module manipulator with variable stiffness for minimally invasive surgery. BIOINSPIRATION & BIOMIMETICS 2017; 12:056008. [PMID: 28675144 DOI: 10.1088/1748-3190/aa7ccd] [Citation(s) in RCA: 22] [Impact Index Per Article: 3.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/07/2023]
Abstract
This work presents a soft manipulator for minimally invasive surgery inspired by the biological capabilities of the octopus arm. The multi-module arm is composed of three identical units, which are able to move thanks to embedded fluidic actuators that allow omnidirectional bending and elongation, typical movements of the octopus. The use of soft materials makes the arm safe, adaptable and compliant with tissues. In addition, a granular jamming-based stiffening mechanism is integrated in each module with the aim of tuning the stiffness of the manipulator and controlling the interactions with biological structures. A miniaturized camera and a pneumatic gripper have been purposely designed and integrated on the tip of the manipulator making it usable in real working conditions. This work reports the design and the fabrication process of the manipulator, the theoretical and experimental evaluation of the stiffness and the analysis of the motion workspace. Finally, pick and place tests with the fully integrated system are shown.
Collapse
Affiliation(s)
- Iris De Falco
- Author to whom any correspondence should be addressed
| | | | | |
Collapse
|
40
|
|
41
|
Ghosh A, Yoon C, Ongaro F, Scheggi S, Selaru FM, Misra S, Gracias DH. Stimuli-Responsive Soft Untethered Grippers for Drug Delivery and Robotic Surgery. FRONTIERS IN MECHANICAL ENGINEERING 2017; 3:7. [PMID: 31516892 PMCID: PMC6740326 DOI: 10.3389/fmech.2017.00007] [Citation(s) in RCA: 46] [Impact Index Per Article: 6.6] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
Untethered microtools that can be precisely navigated into deep in vivo locations are important for clinical procedures pertinent to minimally invasive surgery and targeted drug delivery. In this mini-review, untethered soft grippers are discussed, with an emphasis on a class of autonomous stimuli-responsive gripping soft tools that can be used to excise tissues and release drugs in a controlled manner. The grippers are composed of polymers and hydrogels and are thus compliant to soft tissues. They can be navigated using magnetic fields and controlled by robotic path-planning strategies to carry out tasks like pick-and-place of microspheres and biological materials either with user assistance, or in a fully autonomous manner. It is envisioned that the use of these untethered soft grippers will translate from laboratory experiments to clinical scenarios and the challenges that need to be overcome to make this transition are discussed.
Collapse
Affiliation(s)
- Arijit Ghosh
- Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, United States
| | - ChangKyu Yoon
- Materials Science and Engineering, Johns Hopkins University, Baltimore, MD, United States
| | - Federico Ongaro
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA - Institute for Biomedical Technology and Technical Medicine, University of Twente, Enschede, Netherlands
| | - Stefano Scheggi
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA - Institute for Biomedical Technology and Technical Medicine, University of Twente, Enschede, Netherlands
| | - Florin M. Selaru
- Division of Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University, Baltimore, MD, United States
| | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA - Institute for Biomedical Technology and Technical Medicine, University of Twente, Enschede, Netherlands
- Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, Netherlands
| | - David H. Gracias
- Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD, United States
- Materials Science and Engineering, Johns Hopkins University, Baltimore, MD, United States
- Correspondence: David H. Gracias
| |
Collapse
|
42
|
Abstract
Ingestible sensing capsules are fast emerging as a critical technology that has the ability to greatly impact health, nutrition, and clinical areas. These ingestible devices are noninvasive and hence are very attractive for customers. With widespread access to smart phones connected to the Internet, the data produced by this technology can be readily seen and reviewed online, and accessed by both users and physicians. The outputs provide invaluable information to reveal the state of gut health and disorders as well as the impact of food, medical supplements, and environmental changes on the gastrointestinal tract. One unique feature of such ingestible sensors is that their passage through the gut lumen gives them access to each individual organ of the gastrointestinal tract. Therefore, ingestible sensors offer the ability to gather images and monitor luminal fluid and the contents of each gut segment including electrolytes, enzymes, metabolites, hormones, and the microbial communities. As such, an incredible wealth of knowledge regarding the functionality and state of health of individuals through key gut biomarkers can be obtained. This Review presents an overview of the gut structure and discusses current and emerging digestible technologies. The text is an effort to provide a comprehensive overview of ingestible sensing capsules, from both a body physiology point of view as well as a technological view, and to detail the potential information that they can generate.
Collapse
Affiliation(s)
| | - Nam Ha
- School of Engineering, RMIT University, Melbourne, Victoria 3000, Australia
| | - Jian Zhen Ou
- School of Engineering, RMIT University, Melbourne, Victoria 3000, Australia
| | - Kyle J. Berean
- School of Engineering, RMIT University, Melbourne, Victoria 3000, Australia
| |
Collapse
|
43
|
Ansari Y, Manti M, Falotico E, Mollard Y, Cianchetti M, Laschi C. Towards the development of a soft manipulator as an assistive robot for personal care of elderly people. INT J ADV ROBOT SYST 2017. [DOI: 10.1177/1729881416687132] [Citation(s) in RCA: 60] [Impact Index Per Article: 8.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
Manipulators based on soft robotic technologies exhibit compliance and dexterity which ensures safe human–robot interaction. This article is a novel attempt at exploiting these desirable properties to develop a manipulator for an assistive application, in particular, a shower arm to assist the elderly in the bathing task. The overall vision for the soft manipulator is to concatenate three modules in a serial manner such that (i) the proximal segment is made up of cable-based actuation to compensate for gravitational effects and (ii) the central and distal segments are made up of hybrid actuation to autonomously reach delicate body parts to perform the main tasks related to bathing. The role of the latter modules is crucial to the application of the system in the bathing task; however, it is a nontrivial challenge to develop a robust and controllable hybrid actuated system with advanced manipulation capabilities and hence, the focus of this article. We first introduce our design and experimentally characterize its functionalities, which include elongation, shortening, omnidirectional bending. Next, we propose a control concept capable of solving the inverse kinetics problem using multiagent reinforcement learning to exploit these functionalities despite high dimensionality and redundancy. We demonstrate the effectiveness of the design and control of this module by demonstrating an open-loop task space control where it successfully moves through an asymmetric 3-D trajectory sampled at 12 points with an average reaching accuracy of 0.79 cm ± 0.18 cm. Our quantitative experimental results present a promising step toward the development of the soft manipulator eventually contributing to the advancement of soft robotics.
Collapse
Affiliation(s)
- Yasmin Ansari
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Mariangela Manti
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Egidio Falotico
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | | | | | - Cecilia Laschi
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| |
Collapse
|
44
|
Design and evaluation of a variable stiffness manual operating platform for laparoendoscopic single site surgery (LESS). Int J Med Robot 2017; 13. [DOI: 10.1002/rcs.1797] [Citation(s) in RCA: 19] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/17/2016] [Revised: 10/07/2016] [Accepted: 11/11/2016] [Indexed: 02/04/2023]
|
45
|
Dehghani H, Welch CR, Pourghodrat A, Nelson CA, Oleynikov D, Dasgupta P, Terry BS. Design and preliminary evaluation of a self-steering, pneumatically driven colonoscopy robot. J Med Eng Technol 2017; 41:223-236. [PMID: 28122477 DOI: 10.1080/03091902.2016.1275853] [Citation(s) in RCA: 15] [Impact Index Per Article: 2.1] [Reference Citation Analysis] [Abstract] [Key Words] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023]
Abstract
Colonoscopy is a diagnostic procedure to detect pre-cancerous polyps and tumours in the colon, and is performed by inserting a long tube equipped with a camera and biopsy tools. Despite the medical benefits, patients undergoing this procedure often complain about the associated pain and discomfort. This discomfort is mostly due to the rough handling of the tube and the creation of loops during the insertion. The overall goal of this work is to minimise the invasiveness of traditional colonoscopy. In pursuit of this goal, this work presents the development of a semi-autonomous colonoscopic robot with minimally invasive locomotion. The proposed robotic approach allows physicians to concentrate mainly on the diagnosis rather than the mechanics of the procedure. In this paper, an innovative locomotion approach for robotic colonoscopy is addressed. Our locomotion approach takes advantage of longitudinal expansion of a latex tube to propel the robot's tip along the colon. This soft and compliant propulsion mechanism, in contrast to minimally invasive mechanisms used in, for example, inchworm-like robots, has shown promising potential. In the preliminary ex vivo experiments, the robot successfully advanced 1.5 metres inside an excised curvilinear porcine colon with average speed of 28 mm/s, and was capable of traversing bends up to 150 degrees. The robot creates less than 6 N of normal force at its tip when it is pressurised with 90 kPa. This maximum force generates pressure of 44.17 mmHg at the tip, which is significantly lower than safe intraluminal human colonic pressure of 80 mmHg. The robot design inherently prevents loop formation in the colon, which is recognised as the main cause of post procedural pain in patients. Overall, the robot has shown great promise in an ex vivo experimental setup. The design of an autonomous control system and in vivo experiments are left as future work.
Collapse
Affiliation(s)
- Hossein Dehghani
- a Department of Mechanical and Materials Engineering , University of Nebraska-Lincoln , Lincoln , NE , USA
| | - C Ross Welch
- a Department of Mechanical and Materials Engineering , University of Nebraska-Lincoln , Lincoln , NE , USA
| | - Abolfazl Pourghodrat
- a Department of Mechanical and Materials Engineering , University of Nebraska-Lincoln , Lincoln , NE , USA
| | - Carl A Nelson
- a Department of Mechanical and Materials Engineering , University of Nebraska-Lincoln , Lincoln , NE , USA.,b Center for Advanced Surgical Technology (CAST), University of Nebraska Medical Center , Omaha , NE , USA
| | - Dmitry Oleynikov
- b Center for Advanced Surgical Technology (CAST), University of Nebraska Medical Center , Omaha , NE , USA.,c Department of Surgery , University of Nebraska Medical Center , Omaha , NE , USA
| | - Prithviraj Dasgupta
- d Computer Science Department , University of Nebraska at Omaha , Omaha , NE , USA
| | - Benjamin S Terry
- a Department of Mechanical and Materials Engineering , University of Nebraska-Lincoln , Lincoln , NE , USA.,b Center for Advanced Surgical Technology (CAST), University of Nebraska Medical Center , Omaha , NE , USA
| |
Collapse
|
46
|
Tonazzini A, Mintchev S, Schubert B, Mazzolai B, Shintake J, Floreano D. Variable Stiffness Fiber with Self-Healing Capability. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2016; 28:10142-10148. [PMID: 27689347 DOI: 10.1002/adma.201602580] [Citation(s) in RCA: 55] [Impact Index Per Article: 6.9] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/15/2016] [Revised: 08/26/2016] [Indexed: 06/06/2023]
Abstract
A variable stiffness fiber made of silicone and low melting point alloys quickly becomes >700 times softer and >400 times more deformable when heated above 62 °C. It shows remarkable self-healing properties and can be clamped, knitted, and bonded, as shown in a foldable multi-purpose drone, a wearable cast for bone injuries, and a soft multi-directional actuator.
Collapse
Affiliation(s)
- Alice Tonazzini
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Stefano Mintchev
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Bryan Schubert
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, 56025, Italy
| | - Jun Shintake
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| | - Dario Floreano
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, 1015, Switzerland
| |
Collapse
|
47
|
Madani K, Khanmohammadi S, Azimirad V. Finding Optimal Actuation Configuration for Magnetically Driven Capsule Endoscopy Based on Genetic Algorithm. J Med Biol Eng 2016. [DOI: 10.1007/s40846-016-0180-6] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
|
48
|
Total mesorectal excision using a soft and flexible robotic arm: a feasibility study in cadaver models. Surg Endosc 2016; 31:264-273. [DOI: 10.1007/s00464-016-4967-x] [Citation(s) in RCA: 36] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2016] [Accepted: 05/03/2016] [Indexed: 10/21/2022]
|
49
|
Zhao R, Yao Y, Luo Y. Development of a Variable Stiffness Over Tube Based on Low-Melting-Point-Alloy for Endoscopic Surgery. J Med Device 2016. [DOI: 10.1115/1.4032813] [Citation(s) in RCA: 36] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Instruments used in endoscopic surgery (colonoscopy surgery or natural orifice transluminal endoscopic surgery (NOTES)) are flexible to be advanced in human body. However, when the end of the instrument reaches the target, the instrument should be rigid enough to hold its shape against external forces for better surgical accuracy. In order to obtain these two properties, a variable stiffness over tube based on low-melting-point-alloy (LMPA) is proposed in this paper. The structure exploits the phase transformation property of the LMPA which enables the stiffness change of the over tube by heating and cooling. A prototype was fabricated using a special molding method, and experiments were carried out to evaluate its variable stiffness property and response characteristics. According to experimental results, it costs 17 s to make the over tube transform from rigid state to flexible state and 18 s to make the over tube transform from flexible state to rigid state. The experimental results also indicated that the over tube is very rigid in rigid state and flexible in compliant state. A heat insulation layer was assembled to prevent human tissue from thermal damage. The temperature of the outer wall of the over tube was 42.5 °C when hot water of 80 °C was pumped into the over tube continually with the help of the heat insulation layer.
Collapse
Affiliation(s)
- Ruzhen Zhao
- State Key Laboratory of Mechanical Systems and Vibration, Institute of Biomedical Manufacturing and Life Quality Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dong Chuan Road, Shanghai 200240, China e-mail:
| | - Yao Yao
- State Key Laboratory of Mechanical Systems and Vibration, Institute of Biomedical Manufacturing and Life Quality Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dong Chuan Road, Shanghai 200240, China e-mail:
| | - Yun Luo
- State Key Laboratory of Mechanical Systems and Vibration, Institute of Biomedical Manufacturing and Life Quality Engineering, School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dong Chuan Road, Shanghai 200240, China e-mail:
| |
Collapse
|
50
|
Ciuti G, Caliò R, Camboni D, Neri L, Bianchi F, Arezzo A, Koulaouzidis A, Schostek S, Stoyanov D, Oddo CM, Magnani B, Menciassi A, Morino M, Schurr MO, Dario P. Frontiers of robotic endoscopic capsules: a review. JOURNAL OF MICRO-BIO ROBOTICS 2016; 11:1-18. [PMID: 29082124 PMCID: PMC5646258 DOI: 10.1007/s12213-016-0087-x] [Citation(s) in RCA: 49] [Impact Index Per Article: 6.1] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2016] [Revised: 03/24/2016] [Accepted: 04/07/2016] [Indexed: 12/15/2022]
Abstract
Digestive diseases are a major burden for society and healthcare systems, and with an aging population, the importance of their effective management will become critical. Healthcare systems worldwide already struggle to insure quality and affordability of healthcare delivery and this will be a significant challenge in the midterm future. Wireless capsule endoscopy (WCE), introduced in 2000 by Given Imaging Ltd., is an example of disruptive technology and represents an attractive alternative to traditional diagnostic techniques. WCE overcomes conventional endoscopy enabling inspection of the digestive system without discomfort or the need for sedation. Thus, it has the advantage of encouraging patients to undergo gastrointestinal (GI) tract examinations and of facilitating mass screening programmes. With the integration of further capabilities based on microrobotics, e.g. active locomotion and embedded therapeutic modules, WCE could become the key-technology for GI diagnosis and treatment. This review presents a research update on WCE and describes the state-of-the-art of current endoscopic devices with a focus on research-oriented robotic capsule endoscopes enabled by microsystem technologies. The article also presents a visionary perspective on WCE potential for screening, diagnostic and therapeutic endoscopic procedures.
Collapse
Affiliation(s)
- Gastone Ciuti
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - R Caliò
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - D Camboni
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - L Neri
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy.,Ekymed S.r.l., Livorno, Italy
| | - F Bianchi
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - A Arezzo
- Department of Surgical Disciplines, University of Torino, Torino, Italy
| | - A Koulaouzidis
- Endoscopy Unit, The Royal Infirmary of Edinburgh, Edinburgh, Scotland, UK
| | | | - D Stoyanov
- Centre for Medical Image Computing and the Department of Computer Science, University College London, London, UK
| | - C M Oddo
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | | | - A Menciassi
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| | - M Morino
- Department of Surgical Disciplines, University of Torino, Torino, Italy
| | - M O Schurr
- Ovesco Endoscopy AG, Tübingen, Germany.,Steinbeis University Berlin, Berlin, Germany
| | - P Dario
- The BioRobotics Institute of Scuola Superiore Sant'Anna, Pontedera, Pisa 56025 Italy
| |
Collapse
|