Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications

H. Naghibi; M. W. Gifari; W. Hoitzing; J. W. Lageveen; D. M.M. Van As; S. Stramigioli; M. Abayazid

doi:10.1109/ICRA.2019.8793584

Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications

H. Naghibi
, M. W. Gifari
, W. Hoitzing
, J. W. Lageveen
, D. M.M. Van As
, S. Stramigioli
, M. Abayazid

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

Despite the recent advances in soft endoscopes, they could not yet fully fulfill the requirements for minimally invasive and natural orifice transluminal endoscopic surgeries. Maneuverability, bendability, different structural stiffness required for different endoscopic surgical interventions, the space needed for surgical manipulators and patient's safety are amongst the main factors which can contribute to implementing the new soft robotics endoscope in practice. In this study, based on finite element analysis on an existing endoscopic segment, a new improved endoscopic module was developed. A novel approach for stiffening of the endoscopic module was proposed. The actuation and stiffening components were combined to introduce a multi-level stiffening mechanism to the endoscope, and also to provide a free lumen for manipulators. To increase patient's safety, a force sensing module was developed to estimate the magnitude and direction of the force from tissues to the endoscope. The developed endoscopic system was integrated to a haptic control system. The 3D kinematics control and haptic feedback control of the endoscopic module were validated.

Original language	English
Title of host publication	2019 International Conference on Robotics and Automation, ICRA 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1527-1533
Number of pages	7
ISBN (Electronic)	9781538660263
DOIs	https://doi.org/10.1109/ICRA.2019.8793584
State	Published - May 2019
Externally published	Yes
Event	2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: 20 May 2019 → 24 May 2019

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2019 International Conference on Robotics and Automation, ICRA 2019
Country/Territory	Canada
City	Montreal
Period	20/05/19 → 24/05/19

Bibliographical note

Publisher Copyright:
© 2019 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1109/ICRA.2019.8793584

Cite this

Naghibi, H., Gifari, M. W., Hoitzing, W., Lageveen, J. W., Van As, D. M. M., Stramigioli, S., & Abayazid, M. (2019). Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 1527-1533). Article 8793584 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793584

Naghibi, H. ; Gifari, M. W. ; Hoitzing, W. et al. / Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 1527-1533 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications",

abstract = "Despite the recent advances in soft endoscopes, they could not yet fully fulfill the requirements for minimally invasive and natural orifice transluminal endoscopic surgeries. Maneuverability, bendability, different structural stiffness required for different endoscopic surgical interventions, the space needed for surgical manipulators and patient's safety are amongst the main factors which can contribute to implementing the new soft robotics endoscope in practice. In this study, based on finite element analysis on an existing endoscopic segment, a new improved endoscopic module was developed. A novel approach for stiffening of the endoscopic module was proposed. The actuation and stiffening components were combined to introduce a multi-level stiffening mechanism to the endoscope, and also to provide a free lumen for manipulators. To increase patient's safety, a force sensing module was developed to estimate the magnitude and direction of the force from tissues to the endoscope. The developed endoscopic system was integrated to a haptic control system. The 3D kinematics control and haptic feedback control of the endoscopic module were validated.",

author = "H. Naghibi and Gifari, \{M. W.\} and W. Hoitzing and Lageveen, \{J. W.\} and \{Van As\}, \{D. M.M.\} and S. Stramigioli and M. Abayazid",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 International Conference on Robotics and Automation, ICRA 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

year = "2019",

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doi = "10.1109/ICRA.2019.8793584",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Naghibi, H, Gifari, MW, Hoitzing, W, Lageveen, JW, Van As, DMM, Stramigioli, S & Abayazid, M 2019, Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. in 2019 International Conference on Robotics and Automation, ICRA 2019., 8793584, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1527-1533, 2019 International Conference on Robotics and Automation, ICRA 2019, Montreal, Canada, 20/05/19. https://doi.org/10.1109/ICRA.2019.8793584

Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. / Naghibi, H.; Gifari, M. W.; Hoitzing, W. et al.
2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 1527-1533 8793584 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Gifari, M. W.

AU - Hoitzing, W.

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AU - Van As, D. M.M.

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ER -

Naghibi H, Gifari MW, Hoitzing W, Lageveen JW, Van As DMM, Stramigioli S et al. Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications. In 2019 International Conference on Robotics and Automation, ICRA 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 1527-1533. 8793584. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2019.8793584

Development of a multi-level stiffness soft robotic module with force Haptic feedback for endoscopic applications

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this