Soft and stiffness-controllable robotics solutions for minimally invasive surgery : : the STIFF-FLOP approach / / Jelizaveta Konstantinova, Ali Shiva and Kaspar Althoefer, editors.

• Superior document: River Publishers series in automation, control and robotics
• TeilnehmendeR: Konstantinova, Jelizaveta,; Shiva, Ali,; Althoefer, Kaspar,
• Place / Publishing House: Denmark : : River Publishers,, [2018]; ©2018
• Year of Publication: 2018
• Edition: 1st ed.
• Language: English
• Series: River Publishers series in automation, control and robotics.
• Physical Description: 1 online resource (420 pages).

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 t...

Table of Contents

• Front Cover
• Half Title Page
• RIVER PUBLISHERS SERIES IN AUTOMATION, CONTROL AND ROBOTICS
• Tilte Page
• Copyright Page
• Contents
• Preface
• Acknowledgements
• List of Contributors
• List of Figures
• List of Tables
• List of Abbreviations
• PART I Development of Silicone-based Stiffness Controllable Actuators
• Chapter 1 Technology Selection
• 1.1 Manipulator Specifications
• 1.1.1 Medical Requirements
• 1.1.2 Technical Specifications
• 1.2 Technological Overview of Different Actuation Strategies
• 1.2.1 Active Motion Technology Survey
• 1.2.1.1 Electromagnetic motors
• 1.2.1.2 Electro active polymers. 1.2.1.3 Shape memory alloys1.2.1.4 Shape memory polymers
• 1.2.1.5 Flexible fluidic actuator
• 1.2.2 Discussion and Choice of Active Motion Technology
• 1.2.3 Stiffness Variation Technology Survey
• 1.2.4 Comparison and Choice
• References
• Chapter 2 Design of the Multi-module Manipulator
• 2.1 The Design of the Single Module
• 2.1.1 Active Motion
• 2.1.2 Stiffness variation
• 2.2 Connection of Multiple Modules
• 2.3 Complete Characterization of the 2-Module Manipulator
• 2.3.1 Fabrication
• 2.3.2 Workspace Evaluation
• 2.3.2.1 Methods
• 2.3.2.2 Results
• 2.3.3 Junction Characterization
• 2.3.3.1 Methods. 2.3.3.2 Results2.3.4 Stiffness Characterization
• 2.3.4.1 Methods
• 2.3.4.2 Results
• 2.3.5 Combined Force and Stiffening Experiments
• 2.3.5.1 Methods
• 2.3.5.2 Results
• References
• Chapter 3 Soft Manipulator Actuation Module with Reinforced Chambers
• 3.1 Introduction
• 3.1.1 Change of the Chamber Cross Section Area
• 3.1.2 Chamber Cross Section Center Displacement
• 3.1.3 Friction between the Silicone Body and Braided Sleeve
• 3.1.4 Sensor Interaction
• 3.2 Proposed Improvements
• 3.2.1 Possible Solutions
• 3.2.2 Design
• 3.3 Manufacturing
• 3.4 Tests
• 3.4.1 Pneumatic Actuation. 3.4.2 Hydraulic Actuation3.4.3 External Force
• 3.5 Stiffening Mechanism
• 3.5.1 Basic Module Design
• 3.5.2 Optimised Module Design
• 3.6 Conclusions
• Acknowledgement
• References
• Chapter 4 Antagonistic Actuation Principle for a Silicone-based Soft Manipulator
• 4.1 Introduction
• 4.2 Background
• 4.3 Bio-Inspiration and Contributions
• 4.4 Integration of the Antagonistic Stiffening Mechanism
• 4.4.1 Embedding Tendon-driven Actuation into a STIFF-FLOP Segment
• 4.4.2 Setup of the Antagonistic Actuation Architecture
• 4.5 Test Protocol, Experimental Results, and Discussion
• 4.5.1 Methodology. 4.5.2 Experimental Results4.5.3 Discussion
• 4.6 Conclusions
• 4.7 Funding
• References
• Chapter 5 Smart Hydrogel for Stiffness Controllable Continuum Manipulators: A Conceptual Design
• 5.1 Introduction
• 5.2 Materials and Methods
• 5.2.1 Active Hydrogel Preparation
• 5.2.2 Active Hydrogel Properties and Ion Pattern Printing
• 5.3 Experiments and Discussion
• 5.3.1 Swelling Test
• 5.3.2 Stiffness Test
• 5.4 Conclusion and Future Works
• References
• PART II Creation and Integration of Multiple Sensing Modalities
• Chapter 6 Optical Force and Torque Sensor for Flexible Robotic Manipulators.