Soft and Stiffness-Controllable Robotics Solutions for Minimally Invasive Surgery : the STIFF-FLOP Approach. [E-Book]

Print version record.

Front Cover; Half Title Page; RIVER PUBLISHERS SERIES IN AUTOMATION, CONTROL AND ROBOTICS; Tilte Page; Copyright Page; Contents; Preface; Acknowledgements; List of Contributors; List of Figures; List of Tables; List of Abbreviations; PART I -- Development of Silicone-based Stiffness Controllable Actuators; Chapter 1 -- Technology Selection; 1.1 Manipulator Specifications; 1.1.1 Medical Requirements; 1.1.2 Technical Specifications; 1.2 Technological Overview of Different Actuation Strategies; 1.2.1 Active Motion Technology Survey; 1.2.1.1 Electromagnetic motors; 1.2.1.2 Electro active polymers.

1.2.1.3 Shape memory alloys1.2.1.4 Shape memory polymers; 1.2.1.5 Flexible fluidic actuator; 1.2.2 Discussion and Choice of Active Motion Technology; 1.2.3 Stiffness Variation Technology Survey; 1.2.4 Comparison and Choice; References; Chapter 2 -- Design of the Multi-module Manipulator; 2.1 The Design of the Single Module; 2.1.1 Active Motion; 2.1.2 Stiffness variation; 2.2 Connection of Multiple Modules; 2.3 Complete Characterization of the 2-Module Manipulator; 2.3.1 Fabrication; 2.3.2 Workspace Evaluation; 2.3.2.1 Methods; 2.3.2.2 Results; 2.3.3 Junction Characterization; 2.3.3.1 Methods.

2.3.3.2 Results2.3.4 Stiffness Characterization; 2.3.4.1 Methods; 2.3.4.2 Results; 2.3.5 Combined Force and Stiffening Experiments; 2.3.5.1 Methods; 2.3.5.2 Results; References; Chapter 3 -- Soft Manipulator Actuation Module -- with Reinforced Chambers; 3.1 Introduction; 3.1.1 Change of the Chamber Cross Section Area; 3.1.2 Chamber Cross Section Center Displacement; 3.1.3 Friction between the Silicone Body and Braided Sleeve; 3.1.4 Sensor Interaction; 3.2 Proposed Improvements; 3.2.1 Possible Solutions; 3.2.2 Design; 3.3 Manufacturing; 3.4 Tests; 3.4.1 Pneumatic Actuation.

3.4.2 Hydraulic Actuation3.4.3 External Force; 3.5 Stiffening Mechanism; 3.5.1 Basic Module Design; 3.5.2 Optimised Module Design; 3.6 Conclusions; Acknowledgement; References; Chapter 4 -- Antagonistic Actuation Principle for a Silicone-based Soft Manipulator; 4.1 Introduction; 4.2 Background; 4.3 Bio-Inspiration and Contributions; 4.4 Integration of the Antagonistic Stiffening Mechanism; 4.4.1 Embedding Tendon-driven Actuation into a STIFF-FLOP Segment; 4.4.2 Setup of the Antagonistic Actuation Architecture; 4.5 Test Protocol, Experimental Results, and Discussion; 4.5.1 Methodology.

4.5.2 Experimental Results4.5.3 Discussion; 4.6 Conclusions; 4.7 Funding; References; Chapter 5 -- Smart Hydrogel for Stiffness Controllable Continuum Manipulators: A Conceptual Design; 5.1 Introduction; 5.2 Materials and Methods; 5.2.1 Active Hydrogel Preparation; 5.2.2 Active Hydrogel Properties and Ion Pattern Printing; 5.3 Experiments and Discussion; 5.3.1 Swelling Test; 5.3.2 Stiffness Test; 5.4 Conclusion and Future Works; References; PART II -- Creation and Integration of Multiple Sensing Modalities; Chapter 6 -- Optical Force and Torque Sensor for Flexible Robotic Manipulators.

6.1 Introduction.

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