Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators
Introduction: Minimally Invasive Surgery (MIS) offers targeted surgical access with reduced invasiveness; however, the maneuverability challenges of traditional instruments in this domain underscore the need for innovative solutions. Soft actuators activated by fluids or gases present a promising st...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2023-12-01
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| Series: | Frontiers in Bioengineering and Biotechnology |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/fbioe.2023.1319922/full |
| _version_ | 1797390926766669824 |
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| author | Yuxi Lu Zhongchao Zhou Pablo Enrique Tortos Vinocour Shota Kokubu Tatsuo Igarashi Wenwei Yu Wenwei Yu |
| author_facet | Yuxi Lu Zhongchao Zhou Pablo Enrique Tortos Vinocour Shota Kokubu Tatsuo Igarashi Wenwei Yu Wenwei Yu |
| author_sort | Yuxi Lu |
| collection | DOAJ |
| description | Introduction: Minimally Invasive Surgery (MIS) offers targeted surgical access with reduced invasiveness; however, the maneuverability challenges of traditional instruments in this domain underscore the need for innovative solutions. Soft actuators activated by fluids or gases present a promising strategy for augmenting endoscopic capabilities, thereby enhancing the surgical precision in MIS. This study aimed to explore the intricate dynamics of the interactions between soft actuators and endoscopes, with an emphasis on the pivotal role of cross-sectional chamber shapes. While previous studies have touched on the influence of chamber shapes on bending properties, we provide a comprehensive exploration. We explore how these shapes modulate friction forces, which in turn influence the interactions governing bending, response, and stiffness adjustability, all of which are essential for enhancing endoscope maneuverability in MIS contexts.Methods: A novel bilateral symmetrical air chamber design was adopted to investigate various chamber shapes. We employed finite element analysis (FEA) simulations followed by prototype testing to evaluate the interactions driven by these chamber shapes and to discern their impact on actuator properties. Recognizing the pivotal role of friction in these interactions, we conducted dedicated friction experiments. These experiments further deepened our understanding of the relationship between chamber shape and friction, and how this synergy influences the properties of the actuator.Results: Our findings showed that actuators with wider chambers generate larger friction forces, thereby enhancing the interaction and improving the bending, response, and stiffness adjustability. Additionally, the soft actuator significantly improved the maneuverability and bending radius of the endoscope, demonstrating enhanced navigation capabilities in complex environments.Discussion: The shape of a cross-sectional chamber plays a pivotal role in designing soft actuators for MIS applications. Our research emphasizes the importance of this design component, offering key insights for the development of endoscope-supporting soft actuators that can effectively handle intricate actuator-endoscope interactions, thereby enhancing surgical outcomes. |
| first_indexed | 2024-03-08T23:25:25Z |
| format | Article |
| id | doaj.art-0f2c541de6e94bb6a647ff97ab710d07 |
| institution | Directory Open Access Journal |
| issn | 2296-4185 |
| language | English |
| last_indexed | 2024-03-08T23:25:25Z |
| publishDate | 2023-12-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Bioengineering and Biotechnology |
| spelling | doaj.art-0f2c541de6e94bb6a647ff97ab710d072023-12-14T17:23:46ZengFrontiers Media S.A.Frontiers in Bioengineering and Biotechnology2296-41852023-12-011110.3389/fbioe.2023.13199221319922Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuatorsYuxi Lu0Zhongchao Zhou1Pablo Enrique Tortos Vinocour2Shota Kokubu3Tatsuo Igarashi4Wenwei Yu5Wenwei Yu6Department of Medical Engineering, Graduate School of Engineering, Chiba University, Chiba, JapanDepartment of Medical Engineering, Graduate School of Engineering, Chiba University, Chiba, JapanDepartment of Medical Engineering, Graduate School of Engineering, Chiba University, Chiba, JapanDepartment of Medical Engineering, Graduate School of Engineering, Chiba University, Chiba, JapanCenter for Frontier Medical Engineering, Chiba University, Chiba, JapanDepartment of Medical Engineering, Graduate School of Engineering, Chiba University, Chiba, JapanCenter for Frontier Medical Engineering, Chiba University, Chiba, JapanIntroduction: Minimally Invasive Surgery (MIS) offers targeted surgical access with reduced invasiveness; however, the maneuverability challenges of traditional instruments in this domain underscore the need for innovative solutions. Soft actuators activated by fluids or gases present a promising strategy for augmenting endoscopic capabilities, thereby enhancing the surgical precision in MIS. This study aimed to explore the intricate dynamics of the interactions between soft actuators and endoscopes, with an emphasis on the pivotal role of cross-sectional chamber shapes. While previous studies have touched on the influence of chamber shapes on bending properties, we provide a comprehensive exploration. We explore how these shapes modulate friction forces, which in turn influence the interactions governing bending, response, and stiffness adjustability, all of which are essential for enhancing endoscope maneuverability in MIS contexts.Methods: A novel bilateral symmetrical air chamber design was adopted to investigate various chamber shapes. We employed finite element analysis (FEA) simulations followed by prototype testing to evaluate the interactions driven by these chamber shapes and to discern their impact on actuator properties. Recognizing the pivotal role of friction in these interactions, we conducted dedicated friction experiments. These experiments further deepened our understanding of the relationship between chamber shape and friction, and how this synergy influences the properties of the actuator.Results: Our findings showed that actuators with wider chambers generate larger friction forces, thereby enhancing the interaction and improving the bending, response, and stiffness adjustability. Additionally, the soft actuator significantly improved the maneuverability and bending radius of the endoscope, demonstrating enhanced navigation capabilities in complex environments.Discussion: The shape of a cross-sectional chamber plays a pivotal role in designing soft actuators for MIS applications. Our research emphasizes the importance of this design component, offering key insights for the development of endoscope-supporting soft actuators that can effectively handle intricate actuator-endoscope interactions, thereby enhancing surgical outcomes.https://www.frontiersin.org/articles/10.3389/fbioe.2023.1319922/fullmedical roboticsendoscope-support soft actuatorpneumatic chamberfrictional interactionfinite element analysismaneuverability |
| spellingShingle | Yuxi Lu Zhongchao Zhou Pablo Enrique Tortos Vinocour Shota Kokubu Tatsuo Igarashi Wenwei Yu Wenwei Yu Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators Frontiers in Bioengineering and Biotechnology medical robotics endoscope-support soft actuator pneumatic chamber frictional interaction finite element analysis maneuverability |
| title | Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators |
| title_full | Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators |
| title_fullStr | Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators |
| title_full_unstemmed | Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators |
| title_short | Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators |
| title_sort | effects of chamber shapes on maneuverability and control property of endoscope support soft actuators |
| topic | medical robotics endoscope-support soft actuator pneumatic chamber frictional interaction finite element analysis maneuverability |
| url | https://www.frontiersin.org/articles/10.3389/fbioe.2023.1319922/full |
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