ArticleInternational journal of computer assisted radiology and surgery2020
Design, characterization and optimization of a soft fluidic actuator for minimally invasive surgery.
Article in International journal of computer assisted radiology and surgery, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 6 papers.
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Who cites it
6 citing papers in PubMed.
- A flexible liquid metal magnetohydrodynamic pump for soft robotic systems.Nature communications · 2026Article
- Soft Robotics and Advanced Technologies for Minimally Invasive Bioprinting: The Future of Internal Organ Repair.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Review
- Toward a novel soft robotic system for minimally invasive interventions.International journal of computer assisted radiology and surgery · 2023Article
- Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators.Frontiers in bioengineering and biotechnology · 2023Article
- Optimization and demonstration of two types of spring-roll dielectric elastomer actuators for minimally invasive surgery.Frontiers in bioengineering and biotechnology · 2022Article
- A Soft Pneumatic Two-Degree-of-Freedom Actuator for Endoscopy.Frontiers in robotics and AI · 2021Article
Corrections and comments
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Authors and funding
4 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposeIn minimally invasive surgery and endoscopy, the rise of soft robotics, using materials of similar softness as biological soft tissues, opens many new opportunities. Soft actuated catheters could become an alternative to current steerable catheters, by minimizing the risk of damage to surrounding tissues while enhancing the possibilities to navigate in confined space and to reach remote locations. Fluidic actuators present the advantage to be safe, since they do not require rigid parts nor voltage, to be lightweight, and to allow the reduction of the number of parts needed for a given movement. This work presents the design, development and characterization of a soft fluidic bending actuator for a steerable catheter.
methodsA silicone prototype of 5 mm diameter has been designed. It has one degree of freedom in bending and achieves a radius of curvature below 10 mm. A numerical model has been developed and compared to the experimental results.
resultsDespite an overestimation of the bending, the numerical model properly captures the behaviour of the actuator. This allowed to identify and validate the key design parameters of the actuator, namely the ratio between the pressure channel surface and the actuator cross-section surface. Based on the results, an optimized design has been developed and numerically implemented. The miniaturization and the potential to carry devices with non-negligible bending stiffness have also been discussed.
conclusionIn this work, a proof of concept of a soft fluidic actuator for a steerable catheter has been designed, developed and characterized. It showed promising results concerning the feasibility of a miniaturized actuator with two degrees of freedom.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.