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A Soft and Controllable Stiffness Manipulator for Minimally Invasive Surgery: Preliminary Characterization of the Modular Design

Citation:

I. D. Falco, M. Cianchetti, and A. Menciassi, “A Soft and Controllable Stiffness Manipulator for Minimally Invasive Surgery: Preliminary Characterization of the Modular Design,” Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2014.

Abstract:

This paper presents a soft modular manipulator for Minimally Invasive Surgery (MIS). The robot takes inspiration from the capabilities of the biological octopus arm. Flexible fluidic actuators allow omni-directional bending and elongation, while a granular jamming mechanism permits to control the arm stiffness up to a Young Modulus of 0.91 MPa. The modular design and its stiffness evaluation are reported.
A soft and controllable stiffness manipulator for minimally invasive surgery: preliminary characterization of the modular design (PDF Download Available). Available from: http://www.researchgate.net/publication/265864928_A_soft_and_controllable_stiffness_manipulator_for_minimally_invasive_surgery_preliminary_characterization_of_the_modular_design [accessed Sep 18, 2015].

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Last updated on 09/18/2015