{"title":"一种用于微创手术的多模态形状和接触力传感的软连续体机器人","authors":"Max McCandless, Frank Juliá Wise, S. Russo","doi":"10.31256/hsmr2023.46","DOIUrl":null,"url":null,"abstract":"Minimally invasive surgery (MIS), e.g., interventional endoscopy and single-incision laparoscopy, has paved the way toward increased patient safety, fewer postop- erative complications, and shorter recovery times [1]. The inherent compliant nature of soft robots makes them suitable for addressing current limitations in MIS, such as the lack of dexterity of rigid robotic devices; however, soft robots often lack adequate shape and contact sensing which makes them difficult to control [2], [3]. The future of laparoscopic surgical tools is moving toward flexible and soft robotic solutions for safer interaction with hu- man tissue [4]. However, newly developed technologies lack effective embedded sensing [5]. This work presents a fully soft robot combining i) a soft optical sensorized multi-modal gripper for tip tracking and contact force sensing with ii) a multi-directional bending module with integrated 3D shape sensing (Fig. 1, a-b). The gripper embeds two soft pneumatic actuators to deploy the jaws, two soft pneumatic actuators to control grasping, and two fully soft optical waveguide sensors (WG) (one in each jaw) with tuned roughness to monitor both actuator tip positions and subsequent contact force on an object.","PeriodicalId":129686,"journal":{"name":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","volume":"49 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A Soft Continuum Robot with Multi-Modal Shape and Contact Force Sensing for Minimally Invasive Surgery\",\"authors\":\"Max McCandless, Frank Juliá Wise, S. Russo\",\"doi\":\"10.31256/hsmr2023.46\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Minimally invasive surgery (MIS), e.g., interventional endoscopy and single-incision laparoscopy, has paved the way toward increased patient safety, fewer postop- erative complications, and shorter recovery times [1]. The inherent compliant nature of soft robots makes them suitable for addressing current limitations in MIS, such as the lack of dexterity of rigid robotic devices; however, soft robots often lack adequate shape and contact sensing which makes them difficult to control [2], [3]. The future of laparoscopic surgical tools is moving toward flexible and soft robotic solutions for safer interaction with hu- man tissue [4]. However, newly developed technologies lack effective embedded sensing [5]. This work presents a fully soft robot combining i) a soft optical sensorized multi-modal gripper for tip tracking and contact force sensing with ii) a multi-directional bending module with integrated 3D shape sensing (Fig. 1, a-b). The gripper embeds two soft pneumatic actuators to deploy the jaws, two soft pneumatic actuators to control grasping, and two fully soft optical waveguide sensors (WG) (one in each jaw) with tuned roughness to monitor both actuator tip positions and subsequent contact force on an object.\",\"PeriodicalId\":129686,\"journal\":{\"name\":\"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023\",\"volume\":\"49 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.31256/hsmr2023.46\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of The 15th Hamlyn Symposium on Medical Robotics 2023","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.31256/hsmr2023.46","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Soft Continuum Robot with Multi-Modal Shape and Contact Force Sensing for Minimally Invasive Surgery
Minimally invasive surgery (MIS), e.g., interventional endoscopy and single-incision laparoscopy, has paved the way toward increased patient safety, fewer postop- erative complications, and shorter recovery times [1]. The inherent compliant nature of soft robots makes them suitable for addressing current limitations in MIS, such as the lack of dexterity of rigid robotic devices; however, soft robots often lack adequate shape and contact sensing which makes them difficult to control [2], [3]. The future of laparoscopic surgical tools is moving toward flexible and soft robotic solutions for safer interaction with hu- man tissue [4]. However, newly developed technologies lack effective embedded sensing [5]. This work presents a fully soft robot combining i) a soft optical sensorized multi-modal gripper for tip tracking and contact force sensing with ii) a multi-directional bending module with integrated 3D shape sensing (Fig. 1, a-b). The gripper embeds two soft pneumatic actuators to deploy the jaws, two soft pneumatic actuators to control grasping, and two fully soft optical waveguide sensors (WG) (one in each jaw) with tuned roughness to monitor both actuator tip positions and subsequent contact force on an object.