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oapen-20.500.12657-598062022-12-02T03:17:46Z Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery Konstantinova, Jelizaveta Wurdemann, Helge Shafti, Ali Shiva, Ali Althoefer, Kaspar Energy;Robotics bic Book Industry Communication::P Mathematics & science::PH Physics::PHD Classical mechanics::PHDY Energy bic Book Industry Communication::T Technology, engineering, agriculture::TJ Electronics & communications engineering::TJF Electronics engineering::TJFM Automatic control engineering::TJFM1 Robotics Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project, funded by European Commission, STIFF-FLOP: STIFFness controllable Flexible and Learn-able manipulator for surgical Operations. In Minimally Invasive Surgery (MIS), tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological "manipulators", like the octopus arm can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects. STIFF-FLOP robot is an innovative soft robotic arm that can squeeze through a standard MIS, reconfigure itself and stiffen by hydrostatic actuation to perform compliant force control tasks while facing unexpected situations. Technical topics discussed in the book include:Soft actuatorsContinuum soft manipulatorsControl, kinematics and navigation of continuum manipulatorsOptical sensors for force, torque, and curvatureHaptic feedback and human interface for surgical systemsValidation of soft stiffness controllable robots 2022-12-01T09:26:08Z 2022-12-01T09:26:08Z 2018 book 9781003339588 9788793519725 https://library.oapen.org/handle/20.500.12657/59806 eng application/pdf Attribution-NonCommercial 4.0 International 9781000799330.pdf Taylor & Francis River Publishers 10.1201/9781003339588 10.1201/9781003339588 7b3c7b10-5b1e-40b3-860e-c6dd5197f0bb 3983007a-5726-4f1e-b9df-3fbc771f2916 9781003339588 9788793519725 River Publishers 418 European Commission European Union open access
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Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project, funded by European Commission, STIFF-FLOP: STIFFness controllable Flexible and Learn-able manipulator for surgical Operations. In Minimally Invasive Surgery (MIS), tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological "manipulators", like the octopus arm can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects. STIFF-FLOP robot is an innovative soft robotic arm that can squeeze through a standard MIS, reconfigure itself and stiffen by hydrostatic actuation to perform compliant force control tasks while facing unexpected situations. Technical topics discussed in the book include:Soft actuatorsContinuum soft manipulatorsControl, kinematics and navigation of continuum manipulatorsOptical sensors for force, torque, and curvatureHaptic feedback and human interface for surgical systemsValidation of soft stiffness controllable robots
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