Soft pop-up mechanisms for micro surgical tools: design and characterization of compliant millimeter-scale articulated structures

被引：0

作者：

Russo, S. ^{[1
]}

Ranzani, T. ^{[1
]}

Gafford, J. ^{[1
]}

Walsh, C. J. ^{[1
,2
]}

Wood, R. J. ^{[1
,2
]}

机构：

[1] Harvard Univ, John A Paulson Sch Engn & Appl Sci, Cambridge, MA 02138 USA

[2] Wyss Inst Biol Inspired Engn, Boston, MA 02115 USA

来源：

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2016年

关键词：

SURGERY;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a manufacturing technique which enables the integration of soft materials and soft fluidic micro-actuators in the Pop-up book MEMS paradigm. Such a technique represents a promising approach to the design and fabrication of low cost and scalable articulated mechanisms provided with sensing capabilities and on-board actuation with potential applications in the field of minimally invasive surgery. Design and integration of soft components in the rigid-flex laminates is described along with the resulting soft pop-up mechanisms realized at different scales. Prototype characterization is presented, demonstrating forces and dexterity in a range suitable for surgical applications, as well as the possibility to integrate sensing capabilities. Based on these results, a multi-articulated robotic arm is fabricated and mounted on top of an endoscope model to provide a proof of concept of simple robotic mechanisms that could be useful in a surgical scenario.

引用

页码：750 / 757

页数：8