A Novel Pneudraulic Actuation Method to Enhance Soft Robot Control.

Modern industrial and medical applications require soft actuators with practical actuation methods, capable of precision control and high-speed performance. Within the realm of medical robotics, precision and speed imply less complications and reduced operational times. Soft fluidic actuators (SFAs) are promising candidates to replace the current rigid endoscopes due to their mechanical compliance, which offers safer human-robot interaction.

Fluidic Multichambered Actuator and Multiaxis Intrinsic Force Sensing.

Soft robots have morphological characteristics that make them preferred candidates, over their traditionally rigid counterparts, for executing physical interaction tasks with the environment. Therefore, equipping them with force sensing is essential for ensuring safety, enhancing their controllability, and adding autonomy. At the same time, it is necessary to preserve their inherent flexibility when integrating sensory units.

The Application of Machine Perfusion as an Enhanced ex vivo Model for Optical Imaging.

Optical imaging techniques such as spectral imaging show promise for the assessment of tissue health during surgery; however, the validation and translation of such techniques into clinical practise is limited by the lack of representative tissue models. In this paper, we demonstrate the application of an organ perfusion machine as an ex vivo tissue model for optical imaging. Three porcine livers are perfused at stepped blood oxygen saturations.

Ex Vivo Perfusion of Porcine Pancreas and Liver Sourced from Commercial Abattoirs after Circulatory Death as a Research Resource: A Methodological Study.

Background: Machine perfusion (MP) is increasingly used for human transplant organ preservation. The use of MP for research purposes is another opportunity for this technology. The porcine pancreas and liver are similar in anatomical size and function to their human counterparts, making them an excellent resource for research, but they have some important differences from human organs which can influence their research use.

Robotic Handle Prototypes for Endoscopic Endonasal Skull Base Surgery: Pre-clinical Randomised Controlled Trial of Performance and Ergonomics.

Endoscopic endonasal skull base surgery is a promising alternative to transcranial approaches. However, standard instruments lack articulation, and thus, could benefit from robotic technologies. The aim of this study was to develop an ergonomic handle for a handheld robotic instrument intended to enhance this procedure.

An intuitive surgical handle design for robotic neurosurgery.

Purpose: The expanded endoscopic endonasal approach, a representative example of keyhole brain surgery, allows access to the pituitary gland and surrounding areas through the nasal and sphenoid cavities. Manipulating rigid instruments through these constrained spaces makes this approach technically challenging, and thus, a handheld robotic instrument could expand the surgeon's capabilities. In this study, we present an intuitive handle prototype for such a robotic instrument.

Toward a Common Framework and Database of Materials for Soft Robotics.

To advance the field of soft robotics, a unified database of material constitutive models and experimental characterizations is of paramount importance. This will facilitate the use of finite element analysis to simulate their behavior and optimize the design of soft-bodied robots. Samples from seventeen elastomers, namely Body Double™ SILK, Dragon Skin™ 10 MEDIUM, Dragon Skin 20, Dragon Skin 30, Dragon Skin FX-Pro, Dragon Skin FX-Pro + Slacker, Ecoflex™ 00-10, Ecoflex 00-30, Ecoflex 00-50, Rebound™ 25, Mold Star™ 16 FAST, Mold Star 20T, SORTA-Clear™ 40, RTV615, PlatSil Gel-10, Psycho Paint, and SOLOPLAST 150318, were subjected to uniaxial tensile tests according to the ASTM D412 standard.

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound.

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient.

Methods: We acquire clinical data to determine the movement ranges and force levels required in prenatal foetal ultrasound imaging and design the soft robotic end-effector accordingly.

Analysis of a Customized Clutch Joint Designed for the Safety Management of an Ultrasound Robot.

Robotic systems have great potential to assist ultrasound (US) examination. Currently, the safety management method to limit the force that a US robot can apply mostly relies on force sensing and software-based algorithms. This causes the concern that the potential failure of sensors, electrical systems, or software could lead to patient injuries.

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound.

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint.

Robotic-Assisted Ultrasound for Fetal Imaging: Evolution from Single-Arm to Dual-Arm System.

The development of robotic-assisted extracorporeal ultrasound systems has a long history and a number of projects have been proposed since the 1990s focusing on different technical aspects. These aim to resolve the deficiencies of on-site manual manipulation of hand-held ultrasound probes. This paper presents the recent ongoing developments of a series of bespoke robotic systems, including both single-arm and dual-arm versions, for a project known as intelligent Fetal Imaging and Diagnosis (iFIND).