Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project funded by the 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. The 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 actuators
- Continuum soft manipulators
- Control, kinematics and navigation of continuum manipulators
- Optical sensors for force, torque, and curvature
- Haptic feedback and human interface for surgical systems
- Validation of soft stiffness controllable robots.
eBook - PDF
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery
The STIFF-FLOP Approach
- 420 pages
- English
- PDF
- Available on iOS & Android
eBook - PDF
Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery
The STIFF-FLOP Approach
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Information
Topic
MedicineTable of contents
- 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
- PART II - Creation and Integration of Multiple Sensing Modalities
- PART III - Control, Kinematics and Navigation
- PART IV - Human Interface
- PART V - Benchmarking Platform for STIFF-FLOP Validation
- Index
- About the Editors
- Back Cover
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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, Ali Shiva, Kaspar Althoefer in PDF and/or ePUB format, as well as other popular books in Medicine & Medical Theory, Practice & Reference. We have over 1.5 million books available in our catalogue for you to explore.