Fiber-reinforced soft polymeric manipulator with smart motion scaling and stiffness tunability

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

2 Scopus Citations
View graph of relations

Author(s)

  • Junshi Zhang
  • Lei Liu
  • Yuyu Chen
  • Mingliang Zhu
  • Liling Tang
  • Chao Tang
  • Jun Shintake
  • Junjie Zhao
  • Jiankang He
  • Xiaoyong Ren
  • Pengfei Li
  • Qiang Huang
  • Huichan Zhao
  • Dichen Li

Related Research Unit(s)

Detail(s)

Original languageEnglish
Article number100600
Journal / PublicationCell Reports Physical Science
Volume2
Issue number10
Online published6 Oct 2021
Publication statusPublished - 20 Oct 2021

Link(s)

Abstract

Minimally invasive surgery (MIS) is emerging as a burgeoning mode of medical treatment and is widely adopted in practical clinical operations. Here, we report a soft manipulator that can actively deform and navigate through a narrow and constrained environment. Stiffness tunability, tremor filtration, and motion scaling capabilities are incorporated to ensure the position and posture of the manipulator during operation. Based on teleoperation through a handle shank, we demonstrate the capability of navigating through a complex, constrained, and narrow space of the human skeleton. By attaching a camera and syringe needle at the front tip of the soft manipulator, the capability of acupuncture treatment and in vivo drug delivery in a medical mannequin is further demonstrated. Finally, autonomous recognition and tracking systems are developed to ensure the surgeon can effortlessly teleoperate the soft manipulator to enter the human body.

Research Area(s)

  • SURGERY, TENTACLES, FUTURE, MODEL

Citation Format(s)

Fiber-reinforced soft polymeric manipulator with smart motion scaling and stiffness tunability. / Zhang, Junshi; Liu, Lei; Chen, Yuyu; Zhu, Mingliang; Tang, Liling; Tang, Chao; Shintake, Jun; Zhao, Junjie; He, Jiankang; Ren, Xiaoyong; Li, Pengfei; Huang, Qiang; Zhao, Huichan; Lu, Jian; Li, Dichen.

In: Cell Reports Physical Science, Vol. 2, No. 10, 100600, 20.10.2021.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

Download Statistics

No data available