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Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:
The STIFF-FLOP Approach

River Publishers Series in Automation, Control and Robotics

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:
The STIFF-FLOP Approach

Editors:
Jelizaveta Konstantinova, Queen Mary University of London, UK
Helge Wurdemann, University College London, UK
Ali Shafti, Imperial College London, UK
Ali Shiva, King's College London, UK
Kaspar Althoefer, Queen Mary University of London, UK

ISBN: 9788793519725

Available: June 2018

doi: https://doi.org/10.13052/rp-9788793519718


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 actuators
  • Continuum soft manipulators
  • Control, kinematics and navigation of continuum manipulators
  • Optical sensors for force, torque, and curvature
  • Haptic feedback and human interface for surgical systems
  • Validation of soft stiffness controllable robots
Soft Robots, Surgical Robots, Medical Robots, Continuum manipulators, Soft actuators, Tactile and Force Sensing, Bending Sensors, Control of continuum manipulators, Haptic feedback, Surgical human interface, Benchmarking of surgical robots.

Chapter 1: Technology Selection
by Matteo Cianchetti, Tommaso Ranzani, Giada Gerboni and Arianna Menciassi


637

Chapter 2: Design of the Multi-module Manipulator
by Tommaso Ranzani, Iris de Falco, Matteo Cianchetti and Arianna Menciassi


707

Chapter 3: Soft Manipulator Actuation Module – with Reinforced Chambers
by Jan Fras, Mateusz Macias, Jan Czarnowski, Margherita Brancadoro, Arianna Menciassi and Jakub Gl-owka


697

Chapter 4: Antagonistic Actuation Principle for a Silicone-based Soft Manipulator
by Ali Shiva, Agostino Stilli, Yohan Noh, Angela Faragasso, Iris De Falco, Giada Gerboni, Matteo Cianchetti, Arianna Menciassi, Kaspar Althoefer, and Helge A.Wurdemann


669

Chapter 5: Smart Hydrogel for Stiffness Controllable Continuum Manipulators: A Conceptual Design
by Daniel Guevara Mosquera, S.M. Hadi Sadati, Kaspar Althoefer and Thrishantha Nanayakkara


903

Chapter 6: Optical Force and Torque Sensor for Flexible Robotic Manipulators
by Yohan Noh, Sina Sareh, Emanuele Lindo Secco and Kaspar Althoefer


709

Chapter 7: Pose Sensor for STIFF-FLOP Manipulator
by Sina Sareh, Yohan Noh, Tommaso Ranzani, Min Li and Kaspar Althoefer


616

Chapter 8: The STIFF-FLOP Vision System
by Erwin Gerz, Matthias Mende and Hubert Roth


728

Chapter 9: Inverse Kinematics Methods for Flexible Arm Control
by Anthony Remazeilles, Asier Fernandez Iribar and Alfonso Dominguez Garcia


575

Chapter 10: Modelling and Position Control of the Soft Manipulator
by Jan Fras, Mateusz Macias, Jan Czarnowski and Jakub Glowka


579

Chapter 11: Reactive Navigation for Continuum Manipulator in Unknown Environments
by Ahmad Ataka, Ali Shiva and Kaspar Althoefer


1270

Chapter 12: The Design of a Functional STIFF-FLOP Robot Operator’s Console
by Łukasz Mucha, Krzysztof Lis, Dariusz Krawczyk and Zbigniew Nawrat


567

Chapter 13: Haptic Feedback Modalities for Minimally Invasive Surgery
by Min Li, Jelizaveta Konstantinova and Kaspar Althoefer


1287

Chapter 14: Force Feedback Sleeve Using Pneumatic and Micro Vibration Actuators
by Łukasz Mucha and Krzysztof Lis


839

Chapter 15: Representation of Distributed Haptic Feedback Given via Vibro-tactile Actuator Arrays
by Anuradha Ranasinghe, AshrafWeheliye, Prokar Dasgupta, and Thrishantha Nanayakkara


605

Chapter 16: RobinHand Haptic Device
by Krzysztof Lis, Łukasz Mucha, Krzysztof Lehrich and Zbigniew Nawrat


769

Chapter 17: Benchmarking for Surgery Simulators
by Zbigniew Malota, Zbigniew Nawrat andWojciech Sadowski


613

Chapter 18: Miniaturized Version of the STIFF-FLOP Manipulator for Cadaver Tests
by Giada Gerboni, Margherita Brancadoro, Alessandro Diodato, Matteo Cianchetti and Arianna Menciassi


913

Chapter 19: Total Mesorectal Excision Using the STIFF-FLOP Soft and Flexible Robotic Arm in Cadaver Models
by Marco Ettore Allaix, Marco Augusto Bonino, Simone Arolfo, Mario Morino, Yoav Mintz and Alberto Arezzo


837