Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery

The STIFF-FLOP Approach

Jelizaveta Konstantinova, Helge Wurdemann, Ali Shafti (Herausgeber)

Buch | Softcover

418 Seiten

2024
River Publishers (Verlag)
9788770043946 (ISBN)

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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

Jelizaveta Konstantinova, Helge Wurdemann, Ali Shafti

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery

Erscheinungsdatum	25.10.2024
Verlagsort	Gistrup
Sprache	englisch
Maße	156 x 234 mm
Gewicht	453 g
Themenwelt	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
Themenwelt	Medizin / Pharmazie ► Medizinische Fachgebiete ► Chirurgie
ISBN-13	9788770043946 / 9788770043946
Zustand	Neuware