Soft And Stiffness Controllable Robotics Solutions For Minimally Invasive Surgery The Stiff Flop Approach
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Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach
Author: Konstantinova, Jelizaveta
language: en
Publisher: River Publishers
Release Date: 2018-06-07
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
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery
Author: Jelizaveta Konstantinova
language: en
Publisher: CRC Press
Release Date: 2022-09-01
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
Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications
Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications delivers essential and advanced bioengineering information on the application of control and robotics technologies in the life sciences. Judging by what we have witnessed so far, this exciting field of control systems and robotics in bioengineering is likely to produce revolutionary breakthroughs over the next decade. While this book is intended for senior undergraduate or graduate students in both control engineering and biomedical engineering programs, it will also appeal to medical researchers and practitioners who want to enhance their quantitative understanding of physiological processes. - Focuses on the engineering and scientific principles underlying the extraordinary performance of biomedical robotics and bio-mechatronics - Demonstrates the application of principles for designing corresponding algorithms - Presents the latest innovative approaches to medical diagnostics and procedures, as well as clinical rehabilitation from the point-of-view of dynamic modeling, system analysis and control