Soft robotics最新文献_第3页

SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion. 脊椎波：利用鱼的刚柔脊柱运动学来增强仿生机器人的运动。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2026-02-04 DOI: 10.1177/21695172261417752

Qu He, Weikun Li, Guangmin Dai, Hao Chen, Qimeng Liu, Xiaoqing Tian, Jie You, Weicheng Cui, Michael S Triantafyllou, Dixia Fan

{"title":"SpineWave: Harnessing Fish Rigid-Flexible Spinal Kinematics for Enhancing Biomimetic Robotic Locomotion.","authors":"Qu He, Weikun Li, Guangmin Dai, Hao Chen, Qimeng Liu, Xiaoqing Tian, Jie You, Weicheng Cui, Michael S Triantafyllou, Dixia Fan","doi":"10.1177/21695172261417752","DOIUrl":"10.1177/21695172261417752","url":null,"abstract":"A core soft-robotics challenge for underwater locomotion is reconciling soft actuation's compliance with the control tractability and robustness of rigid structures. We present SpineWave, a biomimetic robotic fish that adopts a compliant design within a hybrid soft-rigid architecture: rigid, additively manufactured vertebrae embed opposing magnets that provide passive magnetic compliance, enabling soft-like undulatory bending and impact tolerance while retaining a pressure-tolerant, analytically tractable backbone. Rather than manual tuning, we optimize a low-parameter central-pattern-generator (CPG) controller via hardware-in-the-loop efficient global optimization (EGO). The EGO-tuned gaits deliver a 38% increase in cruising speed and a 35% reduction in turning radius relative to pre-optimization baselines, and achieve 29% energy savings when exploiting vortex wakes, while maintaining stable body-wave propagation across modular morphologies. To our knowledge, SpineWave is the first fish robot to realize soft-like compliance and field robustness using an entirely rigid, magnetically coupled exoskeleton-endoskeleton. This combination of passive magnetic compliance and data-driven CPG optimization advances soft-robotic locomotion and offers a pressure-tolerant, modular platform for long-duration environmental monitoring and exploration.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"689-705"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146121259","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Stiffness-Tunable Soft Actuator with Adjustable Jamming for Dexterous Manipulation. 一种用于灵巧操作的具有可调干扰的刚度可调软驱动器。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2025-12-15 DOI: 10.1177/21695172251405996

Shuoqi Wang, Wei Wang

{"title":"A Stiffness-Tunable Soft Actuator with Adjustable Jamming for Dexterous Manipulation.","authors":"Shuoqi Wang, Wei Wang","doi":"10.1177/21695172251405996","DOIUrl":"10.1177/21695172251405996","url":null,"abstract":"In this work, we introduce the Jamming Adjustable PneuNet Actuator (JAPA), a novel soft robotic finger that enables both stiffness modulation and tunable bending behavior through a flexible hybrid jamming approach. This method combines the high stiffness gain of layer jamming and the adaptability of granular jamming. By adjusting the effective length of the paper-based layer jamming using a magnetically positioned sliding mechanism, JAPA can dynamically reshape its bending profile. Meanwhile, the granular jamming element distributed throughout the finger can provide adaptive stiffness reinforcement across all bending configurations. The combination of adjustable stiffness and reconfigurable bending profile substantially enhances JAPA's multidirectional force control and dexterity. To evaluate its performance, we conducted a series of experiments to assess JAPA's stiffness modulation, pull-off and output forces, multidirectional force control, and workspace. Experimental results demonstrate that JAPA can achieve a maximum stiffness gain of up to 3.55×, with adjustable stiffness distribution contributing to a workspace expansion exceeding 200% and a more than 300% improvement in multidirectional force modulation. To visualize its multidirectional force control ability, we used a single JAPA unit to operate a computer cursor via a TrackPoint, dragging the cursor in different directions. To further validate its manipulation capability, we constructed a four-unit JAPA gripper capable of in-hand object rotation and safe handling of diverse objects, including delicate and irregularly shaped items. The proposed soft finger design holds promise for applications in assistive robotics, adaptive grasping, and human-interactive devices, where both safety and functional versatility are critical.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"596-606"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145822478","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An Origami-Based Cable-Climbing Soft Robot. 一种基于折纸的爬索软机器人。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2025-12-16 DOI: 10.1177/21695172251407827

Juhyung Kim, Xiuxian Shi, Wei Dawid Wang

{"title":"An Origami-Based Cable-Climbing Soft Robot.","authors":"Juhyung Kim, Xiuxian Shi, Wei Dawid Wang","doi":"10.1177/21695172251407827","DOIUrl":"10.1177/21695172251407827","url":null,"abstract":"Cable-climbing robots are essential for performing inspection and maintenance in hard-to-reach places with a cable-based infrastructure. However, current robots are often either cumbersome, have low load capacities or struggle to accommodate cables with largely varying diameters. To address these issues with a single design, this study demonstrates an origami-based, cable-climbing soft robot capable of caterpillar-like anchor-crawling locomotion. This robot weighs around 110 g and consists of a body mechanism and two leg mechanisms. The body mechanism with sufficient compliance can adapt to various bends of the cables. The leg mechanism utilizes a bionic gripping design that enables it to climb cables with diameters ranging from less than 1 mm to tens of millimeters. Additionally, the bistable performance of the leg mechanism allows the robot to secure itself to cables within a certain diameter range, even without continuous actuation. Moreover, the robot has a good load capacity and, for instance, can carry a load of more than ten times its weight on a vertical cable with a diameter of 30 mm. More capabilities of the robot are also demonstrated, including crawling between cables with different diameters, traversing protruding obstacles, transporting items, and completing complex tasks, such as repairing damaged cables.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"618-628"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145859846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Finite-Time Admittance Control for Adaptive Compliance of a Soft Actuator of Robotic Gastric Simulator. 胃模拟器软作动器自适应柔顺的有限时间导纳控制。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2026-02-04 DOI: 10.1177/21695172251415290

Siqi Jiang, Shahab Kazemi, Martin Stommel, Leo K Cheng, Weiliang Xu

{"title":"Finite-Time Admittance Control for Adaptive Compliance of a Soft Actuator of Robotic Gastric Simulator.","authors":"Siqi Jiang, Shahab Kazemi, Martin Stommel, Leo K Cheng, Weiliang Xu","doi":"10.1177/21695172251415290","DOIUrl":"10.1177/21695172251415290","url":null,"abstract":"To test food, drug formulations, and medical devices, extensive research has focused on developing in vitro gastric simulators. Existing simulators range from rigid mechanical systems to flexible polymer-based designs, each with distinct limitations in replicating the stomach's complex biomechanical properties. While soft pneumatic actuators provide a foundation for soft robotics-based systems, achieving biomimetic functionality requires control strategies that address both contraction motility precision and compliant interaction dynamics. In this study, we integrate admittance control with finite-time state-dependent Riccati equation (FT-SDRE) and propose a compliant and robust combined force and displacement control for a soft actuator used in robotic gastric simulator. This approach enables a more biomimetic simulation of smooth muscle in gastrointestinal (GI) system when the actuators contact the contents and can help reduce excessive stress on the soft actuator. A three-phase contact model is proposed to describe the force-deformation behavior of the actuator while interacting with the contents, followed by experimental validation. The novel admittance-controlled FT-SDRE enhances both safety and physiological realism in soft tissue interaction. Experimental validation was conducted using three objects: an irregular-shaped gelatin sample, a regular-shaped gelatin sample (same material, different geometry), and an air-filled latex balloon. Compared with nonadmittance FT-SDRE control, the admittance-controlled FT-SDRE reduced 11.19% to 38.46% average contact force according to different objects. Across all tests, the time spent above a force threshold was reduced by 35-39%, which highlights the potential of the proposed method to improve safety, adaptability, and biomimicry in next-generation in vitro gastric simulation platforms.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"669-688"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146120919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bioinspired Coil-Wrap Soft Gripper with Frictional Self-Locking for Enhanced Adaptability and High Load Capacity. 生物启发线圈包裹软夹持器与摩擦自锁增强适应性和高负荷能力。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2026-01-20 DOI: 10.1177/21695172251414502

Chunjie Wei, Jiantao Yao, Xianhe Yu, Hao Fu, Shuai Zhang, Wumian Zhao

{"title":"Bioinspired Coil-Wrap Soft Gripper with Frictional Self-Locking for Enhanced Adaptability and High Load Capacity.","authors":"Chunjie Wei, Jiantao Yao, Xianhe Yu, Hao Fu, Shuai Zhang, Wumian Zhao","doi":"10.1177/21695172251414502","DOIUrl":"https://doi.org/10.1177/21695172251414502","url":null,"abstract":"This article proposes a bioinspired soft coil-wrap gripper (CWG) that achieves concurrent enhancements in load capacity and object adaptability through innovative biomimetic structural design. The gripper incorporates a dual-layer pneumatic architecture: The primary structure comprises an elongated pneumatic chamber with an elastic coating layer, facilitating adaptive contour wrapping around target objects through a biomimetic coiling mechanism. An auxiliary end pneumatic chamber amplifies localized pressure postwrapping, ensuring optimal contact interface and grasping stability. By engineering contact layers with differential friction coefficients (higher inner layer versus lower outer layer), the gripper initiates a frictional self-locking effect during the wrapping process, thereby substantially improving grasping robustness. Experimental validation demonstrates that under pneumatic pressures of 0.1 MPa, the CWG effectively manipulates irregular objects spanning 25-120 mm in size, achieving a maximum payload capacity of 310 N. This research introduces a novel concept for soft grippers by using frictional self-locking to achieve a load capacity that far exceeds the actuation capability.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":"13 4","pages":"641-656"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148414611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bistable Origami-Inspired Soft Pneumatic Actuators with Multiple Deformation Modes for Soft-Legged Robotic Locomotion. 基于多变形模式的双稳态折纸型软气动执行器。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2026-02-16 DOI: 10.1177/21695172261424024

Sheng Xiang, Wei Zhang, Zhong Wei, Jia Liu, Yang Yang

{"title":"Bistable Origami-Inspired Soft Pneumatic Actuators with Multiple Deformation Modes for Soft-Legged Robotic Locomotion.","authors":"Sheng Xiang, Wei Zhang, Zhong Wei, Jia Liu, Yang Yang","doi":"10.1177/21695172261424024","DOIUrl":"10.1177/21695172261424024","url":null,"abstract":"Soft-legged mobile robots require actuators that can deliver both rapid extension and bending motions while generating high-output force to meet the demands of load-bearing and diverse locomotion tasks. This study introduces a bistable origami-inspired soft pneumatic actuator (BOSPA) featuring multiple deformation modes tailored for soft robotic locomotion. The actuator consists of a 3D-printed, inflatable soft Miura-origami tube structure with two parallel air chambers and strategically placed elastic rings in both horizontal and vertical orientations to enable bistability. By programming the driving air pressure of the chambers, the actuator achieves multiple deformation modes, including linear extension, bending, and coupled bending/extension motions with snap-through bistability transitions. To demonstrate the capabilities of the BOSPA, this study designed four soft robots employing different numbers of BOSPA with versatile locomotion modalities. The reversible and rapid linear jump-extension motion of the BOSPA enables a jumping robot to achieve continuous jumps reaching 0.65 body lengths (BL) at 1.25 Hz. A crawling robot using the same actuator achieves straight-line motion at 1.22 BL/s and can ascend inclined surfaces up to 14°. A tripod robot with three BOSPA realizes rolling locomotion by dynamically shifting its center of mass and can also perform peristaltic crawling or leg-propelled movement. A quadruped robot equipped with four BOSPA modules demonstrates rapid pacing and trotting gaits for effective obstacle traversal and can carry payloads up to 20 times the weight of its soft BOSPA legs, with a maximum load capacity of 2 kg.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"629-640"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146204509","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Deployable and Stiffness-Variable Miniature Actuator with Water Circulation Channel and Shape Memory Polymer. 具有水循环通道和形状记忆聚合物的可展开刚度可变微型驱动器。

IF 6.1

Soft robotics Pub Date : 2026-08-01 Epub Date: 2026-01-16 DOI: 10.1177/21695172251413435

Toshiro Yamanaka, Taosong Yu, Tengo Yoshie, Satoshi Amaya, Hirotaka Sugiura, Fumihito Arai

{"title":"Deployable and Stiffness-Variable Miniature Actuator with Water Circulation Channel and Shape Memory Polymer.","authors":"Toshiro Yamanaka, Taosong Yu, Tengo Yoshie, Satoshi Amaya, Hirotaka Sugiura, Fumihito Arai","doi":"10.1177/21695172251413435","DOIUrl":"10.1177/21695172251413435","url":null,"abstract":"Medical care in the gastrointestinal (GI) tract is a major global issue. Soft actuators are expected to solve associated issues such as poor accessibility and difficult operability within the GI tract. The actuators will be inserted into the body through the mouth or anus with a small diameter, perform various tasks in the GI tract with a large diameter, and finally be removed again. Therefore, deployability and retractivity are common requirements. Variable stiffness is also required to adjust or maintain forces on weak tissues. We proposed the new deployable and stiffness-variable miniature actuator consisting of a shape memory polymer bar and flexible channel part with water circulation, which is useful for medical applications in the GI tract. We established the design method of the actuator based on derived physical models and the fabrication method of prototypes. We evaluated the performances of thermal response, retractive deformation, and variable stiffness and confirmed the validity of the concept through the demonstration of continuous actuation, including deploying, retracting, and stiffness-varying. Furthermore, as a case study, we verified the feasibility of endoscopic submucosal dissection traction using prototypes and artificial materials. In the future, the actuator mechanism and design method may also contribute to the development of other medical tools interacting with delicate tissues in the GI tract.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"657-668"},"PeriodicalIF":6.1,"publicationDate":"2026-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147518005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Actuation Optimization of Tensegrity Robotics Based on Minimization of Input Energy. 基于最小输入能量的张拉整体机器人驱动优化。

IF 6.1

Soft robotics Pub Date : 2026-07-25 DOI: 10.1177/21695172261470250

Xiaodong Feng, Jianzhao Peng, Shubin Zhao, Siyuan Song, Yiyi Zhou, Yao Chen

{"title":"Actuation Optimization of Tensegrity Robotics Based on Minimization of Input Energy.","authors":"Xiaodong Feng, Jianzhao Peng, Shubin Zhao, Siyuan Song, Yiyi Zhou, Yao Chen","doi":"10.1177/21695172261470250","DOIUrl":"https://doi.org/10.1177/21695172261470250","url":null,"abstract":"The six-strut spherical tensegrity robot (TR-6), known for its lightweight, high robustness, and adaptability, demonstrates superior kinematic performance due to its significant structural deformability. Its symmetric geometry is well suited for rolling locomotion, enabling the robot to adapt to changing terrain, navigate unstructured environments, and perform missions even after suffering massive damage. This article investigates the minimization of actuation cost for tumbling motion in TR-6 by employing a hybrid optimization framework based on the beetle antennae-genetic algorithm. To this end, an energy-efficient propelling model is formulated, in which strain energy discrepancy is adopted as the objective function, and constraints such as gravitational moment, strain energy limit, and cable regulation bounds are incorporated. The nonrigid-body motion analysis method is applied to determine the robot's equilibrium posture under unbalanced forces. The proposed approach is validated through multibody dynamic simulation using the ADAMS software and further confirmed by physical prototype experiments with motor-driven TR-6 hardware. Results demonstrate that the proposed method effectively identifies actuation strategies with reduced energy consumption and can be extended to other multi-strut or strut-actuated tensegrity robotics.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261470250"},"PeriodicalIF":6.1,"publicationDate":"2026-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148595389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Soft Magnetic Jamming Method Enabling Variable Stiffness and Active Steering for Robotic Catheter. 机器人导管变刚度主动转向的软磁干扰方法。

IF 6.1

Soft robotics Pub Date : 2026-06-12 DOI: 10.1177/21695172261459211

Qi Luo, Hongzhe Sun, Weikang Liu, Da Zhao, Shing Shin Cheng

{"title":"A Soft Magnetic Jamming Method Enabling Variable Stiffness and Active Steering for Robotic Catheter.","authors":"Qi Luo, Hongzhe Sun, Weikang Liu, Da Zhao, Shing Shin Cheng","doi":"10.1177/21695172261459211","DOIUrl":"https://doi.org/10.1177/21695172261459211","url":null,"abstract":"Endovascular interventions demand catheters that can actively steer through tortuous vessels and dynamically increase stiffness at the target to ensure precise therapy. Most existing steerable catheters achieve steering and variable stiffness (VS) by multiple sources, leading to reduced efficiency advantage, increased bulkiness, and safety risks. This work introduces a magnetic jamming method that allows steering and VS using one magnetic source. First, a carrier-free, matrix-free magnetic jamming scheme is introduced that directly encapsulates soft-magnetic powder in coaxial thin-walled tubes, enabling single-source field-driven steering and reversible VS via interparticle jamming. Next, an analytical micro-to-macro stiffness model is established that explicitly links field parameters and particle properties to catheter-level outputs (i.e., stiffness and steering angle) by incorporating particle interaction, thus providing closed-form, physics-based estimations. Finally, we validate the method at both tip and catheter levels, confirming the stiffness model and substantial field-tunable stiffness modulation (up to 300-fold), with benchmarking against vacuum jamming as a reference to validate its effectiveness and demonstrating a multifunctional prototype that enables both steering and VS using a single magnetic source. Our magnetic jamming approach enables on-demand steering and rapid, large-range stiffness modulation in millimeter-scale catheters, promising faster navigation with lower contact forces, more stable device deployment, and a clearer path to autonomous, workflow-friendly endovascular interventions.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"21695172261459211"},"PeriodicalIF":6.1,"publicationDate":"2026-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148229285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Multifunction Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation. 用于内窥镜肺血栓动脉内膜切除术的多功能机器人解剖机：临床前研究和评估。

IF 6.1

Soft robotics Pub Date : 2026-06-01 Epub Date: 2026-03-23 DOI: 10.1177/21695172261420667

Runfeng Zhu, Xin Zhong, Qingxiang Zhao, Jing Lin, Zhong Wu, Kang Li

{"title":"Multifunction Robotized Surgical Dissector for Endoscopic Pulmonary Thromboendarterectomy: Preclinical Study and Evaluation.","authors":"Runfeng Zhu, Xin Zhong, Qingxiang Zhao, Jing Lin, Zhong Wu, Kang Li","doi":"10.1177/21695172261420667","DOIUrl":"10.1177/21695172261420667","url":null,"abstract":"Patients suffering from chronic severe pulmonary thromboembolism need pulmonary thromboendarterectomy (PTE) to remove the thrombus and intima located inside pulmonary artery (PA). During the surgery, a surgeon holds tweezers and a dissector to delicately strip the blockage, but available tools for this surgery are rigid and straight, lacking distal dexterity to access into thin branches of PA. Therefore, this work presents a novel robotized dissector based on concentric push/pull robot (CPPR) structure, enabling entering deep thin branch of tortuous PA. Compared with conventional rigid dissectors, our design characterizes slenderness and dual-segment-bending dexterity. Owing to the hollow and thin-walled structure of the CPPR-based dissector, as it has a slender body of 3.5 mm in diameter, the central lumen accommodates two channels for irrigation and tip tool, and space for endoscopic camera's signal wire. To provide accurate surgical manipulation, optimization-based kinematics model was established, realizing a 2-mm accuracy in positioning the tip tool (60-mm length) under open-loop control strategy. As such, with the endoscopic camera, traditional PTE is possible to be upgraded as endoscopic PTE. Basic physical performance of the robotized dissector, including stiffness, motion accuracy, and maneuverability, was evaluated through experiments. Surgery simulation on ex vivo porcine lung also demonstrates its dexterity and notable advantages in PTE.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"434-450"},"PeriodicalIF":6.1,"publicationDate":"2026-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147500593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0