Proceedings ArticleDOI
Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures
Sheila Russo,Tommaso Ranzani,Joshua B. Gafford,Conor J. Walsh,Robert J. Wood +4 more
- pp 750-757
TLDR
This paper introduces a manufacturing technique which enables the integration of soft materials and soft fluidic micro-actuators in the Pop-up book MEMS paradigm, and presents a proof of concept of simple robotic mechanisms that could be useful in a surgical scenario.Abstract:
This paper introduces a manufacturing technique which enables the integration of soft materials and soft fluidic micro-actuators in the Pop-up book MEMS paradigm. Such a technique represents a promising approach to the design and fabrication of low cost and scalable articulated mechanisms provided with sensing capabilities and on-board actuation with potential applications in the field of minimally invasive surgery. Design and integration of soft components in the rigid-flex laminates is described along with the resulting soft pop-up mechanisms realized at different scales. Prototype characterization is presented, demonstrating forces and dexterity in a range suitable for surgical applications, as well as the possibility to integrate sensing capabilities. Based on these results, a multi-articulated robotic arm is fabricated and mounted on top of an endoscope model to provide a proof of concept of simple robotic mechanisms that could be useful in a surgical scenario.read more
Citations
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Journal ArticleDOI
Soft Robotics in Minimally Invasive Surgery.
TL;DR: This work proposes a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.
Journal ArticleDOI
Silicones for Stretchable and Durable Soft Devices: Beyond Sylgard-184
Sungjune Park,Kunal Mondal,Robert M. Treadway,Vikash Kumar,Siyuan Ma,James David Holbery,Michael D. Dickey +6 more
TL;DR: This paper identifies and characterizes silicone elastomers that are well-suited for fabricating highly stretchable and tear-resistant devices that require interfacial bonding by plasma or UV ozone treatment, and creates stretchable electrodes by injecting a liquid metal into microchannels created using such silicones.
Journal ArticleDOI
Surgical Applications of Compliant Mechanisms - A Review
Theodosia Lourdes Thomas,Venkatasubramanian Kalpathy Venkiteswaran,G. K. Ananthasuresh,Sarthak Misra,Sarthak Misra +4 more
TL;DR: The application of compliant mechanisms to surgical interventions is reviewed and the surgical applications of CMs are assessed by classification into five major groups, namely, grasping and cutting, reachability and steerability, transmission, sensing, implants and deployable devices.
Proceedings ArticleDOI
Pop-up mars rover with textile-enhanced rigid-flex PCB body
Jaakko T. Karras,Christine Fuller,Kalind Carpenter,Alessandro Buscicchio,Dale McKeeby,C. Norman,Carolyn Parcheta,Ivan A. Davydychev,Ronald S. Fearing +8 more
TL;DR: A novel manufacturing paradigm for constructing origami-inspired pop-up robots for future space exploration missions uses a textile-enhanced rigid-flex printed circuit board to implement a folding robot chassis using robust, spaceflight-tolerant materials and integrates the robot electronics directly into the chassis for added compactness.
Journal ArticleDOI
Soft Miniaturized Actuation and Sensing Units for Dynamic Force Control of Cardiac Ablation Catheters.
TL;DR: Preliminary force control results indicate that these units can be used in tracking and control of contact force, which has the potential to make AF procedures much safer and more accurate.
References
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