Soft and Stiffness-Controllable Robotics Solutions for Minimally Invasive Surgery: The Stiff-Flop Approach

ISBN-13: 9788793519725 / Angielski / Twarda / 2018 / 350 str.

Jelizaveta Konstantinova; Ali Shafti; Kaspar Althoefer

Opis

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.

Spis treści

• Part I: Development of Silicone-based Stiffness Controllable Actuators
• 1: Technology selection
• 2: Design of the Multi-module Manipulator
• 3: Soft manipulator actuation module - with reinforced chambers
• 4: Antagonistic actuation principle for a silicone-based soft manipulator
• 5: Smart Hydrogel for Stiffness Controllable Continuum Manipulators: A Conceptual DesignPart II: Creation and Integration of multiple sensing modalities
• 6: Optical Force and Torque Sensor for Flexible Robotic Manipulators
• 7: Pose Sensor for STIFF-FLOP Manipulator
• 8: The STIFF-FLOP vision system Part III: Control, Kinematics and Navigation
• 9: Inverse Kinematics methods for flexible arm control
• 10: Modelling and position control of the soft manipulator
• 11: Reactive Navigation for Continuum Manipulator in Unknown Environments Part IV: Human Interface
• 12: The design of a functional STIFF-FLOP robot operator’s console
• 13: Haptic feedback modalities for minimally invasive surgery
• 14: Force feedback sleeve using pneumatic and micro vibration actuators
• 15: Representation of distributed haptic feedback given via vibro-tactile actuator arrays
• 16: RobinHand Haptic Device Part V: Benchmarking Platform for STIFF-FLOP validation
• 17: Benchmarking for surgery simulators
• 18: Miniaturised version of the STIFF-FLOP manipulator for cadaver tests
• 19: Total mesorectal excision using the STIFF-FLOP soft and flexible robotic arm in cadaver models

O autorze

Jelizaveta Konstantinova, Helge Wurdemann, Ali Shafti