IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics最新文献

{"title":"Kinked Air Channel Enables Retraction of Small-Scale Soft Everting Robots.","authors":"Sukjun Kim, Tania K Morimoto","doi":"10.1109/robosoft63089.2025.11020961","DOIUrl":"10.1109/robosoft63089.2025.11020961","url":null,"abstract":"<p><p>Retraction of soft everting robots via material inversion enables minimal interaction between the robot and the environment, as well as repeated growth and retraction for navigating through complex paths. However, existing retraction strategies are limited to larger-scale robots and often require integration of rigid components. In this work, we present a retraction mechanism for millimeter-scale, soft everting robots enabled by a kinked air channel. The flat air channel is attached to the robot body and kinked at the tip. This kink blocks the air flowing through the channel, allowing the pressure to effectively apply a retraction force at the tip for buckling-free retraction. We developed and validated a model by characterizing the robot at various scales and studying the effectiveness of the kinked air channel for retraction. We demonstrated the robot's retraction capability in several challenging environments, highlighting the benefits of the small size and softness of the retraction mechanism.</p>","PeriodicalId":520486,"journal":{"name":"IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics","volume":"2025 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12818376/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146021163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Approach for 3D Microprinting Soft Robotic Surgical Tools at 1.5 French Length Scales for Endovascular Interventions.","authors":"Bailey M Felix, Olivia M Young, Jordi T Andreou, Nicholas Portwood, Kieran J Barvenik, Noah Barnes, Clifford R Weiss, Christopher R Bailey, Dheeraj Gandhi, Miroslaw Janowski, Jeremy D Brown, Eleonora Tubaldi, Mark Fuge, Axel Krieger, Ryan D Sochol","doi":"10.1109/robosoft60065.2024.10521948","DOIUrl":"10.1109/robosoft60065.2024.10521948","url":null,"abstract":"<p><p>A wide range of endovascular interventions rely on surgical tools such as guidewire-catheter systems for navigating through blood vessels to, for example, deliver embolic materials, stents, and/or therapeutic agents to target sites as well as biopsy tools (<i>e.g</i>., forceps and punch needles) for medical diagnostics. In response to the difficulties in maneuvering such endovascular instruments safely and effectively to access intended sites in the body, researchers have developed an array of soft robotic surgical tools that harness fluidic (<i>e.g</i>., pneumatic or hydraulic) actuation schemes to support on-demand steering and control. Despite considerable progress, scaling these tools down to the sizes required for medical procedures such as cerebral aneurysm treatment and liver chemoembolization have been hindered by manufacturing-induced constraints. To provide a pathway to overcome these miniaturization challenges, this work presents a novel additive manufacturing strategy for 3D microprinting integrated soft actuators directly atop multilumen microfluidic tubing <i>via</i> \"Two-Photon Direct Laser Writing (DLW)\". As an exemplar, a two-actuator tip was 3D printed onto custom dual-lumen tubing-resulting in a system akin to a 1.5 French (Fr) guidewire with a steerable tip. Experimental results revealed independent actuator control <i>via</i> the discretized lumens, with tip bending of approximately 60° under input pressures of 130 kPa <i>via</i> hydraulic actuation. These results suggest that the presented strategy could be extended to achieve new classes of fluidically actuated soft robotic surgical tools at unprecedented length scales for emerging applications in minimally invasive surgery.</p>","PeriodicalId":520486,"journal":{"name":"IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics","volume":"2024 ","pages":"386-391"},"PeriodicalIF":0.0,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11955228/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143757715","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"One-Piece 3D-Printed Pneumatic Catheter: Dual-Segment Design with Integrated Robotics Control for Endovascular Interventions.","authors":"Shaopeng Jiang, Lingyun Di, Noah Barnes, Hannah Qu, Olivia Young, Jeremy D Brown, Ryan Sochol, Axel Krieger","doi":"10.1109/robosoft60065.2024.10521922","DOIUrl":"10.1109/robosoft60065.2024.10521922","url":null,"abstract":"<p><p>Soft robotics have propelled advancements in medical applications such as endovascular interventions through the development of soft steerable catheters. Despite their potential, existing catheters often require intricate manufacturing or complex control systems due to their inherent hysteresis and nonlinear material properties. This study introduces a novel catheter system featuring a 3D-printed hollow tip with two pneumatic bending units, facilitating rotation about two distinct axes without the need for additional fabrication steps. Finite element analysis simulations were used to optimize the catheter design while minimizing its diameter to 6.4 mm. Furthermore, an external robotic control system was integrated to perform physical experiments to assess the bending capabilities of the catheter tip. After calibration, the system exhibited proficient shape control, achieving a wide bending range from -47° to 169° under the integrated control system, and effectively conforming to 'C', 'S', and 'J' configurations with 0.53 degrees closed-loop accuracy. The catheter prototype demonstrated low hysteresis and high repeatability. The entire catheter system presents a pragmatic and cost-effective approach for the rapid prototyping and development of pneumatic steerable catheters. This novel system is ideally suited for testing preliminary concepts and educational applications in endovascular interventions.</p>","PeriodicalId":520486,"journal":{"name":"IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics","volume":"2024 ","pages":"832-838"},"PeriodicalIF":0.0,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11956727/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143766240","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Toward \"S\"-Shaped 3D-Printed Soft Robotic Guidewires for Pediatric Patent Ductus Arteriosus Endovascular Interventions.","authors":"Adira Colton, Declan Fitzgerald, Sunandita Sarker, Noah Barnes, Dheeraj Gandhi, Miroslaw Janowski, Jeremy D Brown, Joshua Kanter, Laura Olivieri, Mark Fuge, Axel Krieger, Ryan D Sochol","doi":"10.1109/robosoft60065.2024.10521960","DOIUrl":"10.1109/robosoft60065.2024.10521960","url":null,"abstract":"<p><p>Patent Ductus Arteriosus (PDA) is a heart condition in which the ductus arteriosus-a blood vessel connecting the pulmonary artery to the aorta in a fetus-fails to undergo closure after birth. A PDA can be an important factor in neonates born with severe congenital heart disease (CHD) or born prematurely. With the advent of new intravascular stent technologies, treatments based on ductus arteriosus stenting can now be completed in many cases; however, difficulties remain in accessing the ductus arteriosus in small babies successfully using current guidewire-catheter systems. Recent developments for soft robotic endovascular instruments that leverage control schemes hold distinctive potential for addressing these access challenges, but such technologies are not yet at the sizes required for navigating neonatal vasculature safely and efficiently. In an effort to meet this clinical need, this work presents an approach for 3D printing 1.5 French (Fr) soft robotic guidewires that transition from straight to \"S\"-shaped configurations under the application of fluidic (<i>e.g</i>., pneumatic or hydraulic) loading. Two distinct dual-opposing segmented soft actuators, including a symmetric and asymmetric system design (both with heights of 2.5 mm), were 3D printed onto 1.1 Fr capillaries in 35-60 minutes <i>via</i> \"Two-Photon Direct Laser Writing (DLW)\". Experimental results revealed that both designs not only withstood pressures of up to 550 kPa, but also exhibited increased opposing bending deformations-corresponding to decreased radii of curvature-with increasing applied pressure. In combination, this study serves as a critical foundation for next-generation fluidically actuated soft robotic guidewire-catheter systems for PDA interventions.</p>","PeriodicalId":520486,"journal":{"name":"IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics","volume":"2024 ","pages":"965-970"},"PeriodicalIF":0.0,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11955227/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143757717","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}