Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery
eBook - ePub

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery

The STIFF-FLOP Approach

  1. 420 pages
  2. English
  3. ePUB (mobile friendly)
  4. Available on iOS & Android
eBook - ePub

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery

The STIFF-FLOP Approach

Book details
Table of contents
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About This Book

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

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Yes, you can access Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery by Jelizaveta Konstantinova,Helge Wurdemann,Ali Shafti in PDF and/or ePUB format, as well as other popular books in Physical Sciences & Energy. We have over one million books available in our catalogue for you to explore.

Information

Publisher
River Publishers
Year
2022
ISBN
9781000799477
Edition
1
Topic
Physical Sciences
Subtopic
Energy

Table of contents

  1. Cover
  2. Half Title
  3. Series Page
  4. Title Page
  5. Copyright Page
  6. Table of Contents
  7. Preface
  8. Acknowledgements
  9. List of Contributors
  10. List of Figures
  11. List of Tables
  12. List of Abbreviations
  13. Part I: Development of Silicone-based Stiffness Controllable Actuators
  14. Part II: Creation and Integration of Multiple Sensing Modalities
  15. Part III: Control, Kinematics and Navigation
  16. Part IV: Human Interface
  17. Part V: Benchmarking Platform for STIFF-FLOP Validation
  18. References
  19. Index
  20. About the Editors