ArticleFrontiers in robotics and AI2019
Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition.
Article in Frontiers in robotics and AI, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
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Who cites it
14 citing papers in PubMed.
- Distal mechanisms in robotic surgical instruments: a structured review of surgical access, miniaturisation constraints and procedure-specific performance trade-offs.Journal of robotic surgery · 2026Review
- Mechanically adaptive materials with tunable stiffness for biomedical devices: Mechanisms, applications, and perspectives.Materials today. Bio · 2026Review
- Soft Robotics and Advanced Technologies for Minimally Invasive Bioprinting: The Future of Internal Organ Repair.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Review
- A Novel Multishaped Variable Stiffness Magnetic Catheter for Minimally Invasive Surgery.Cyborg and bionic systems (Washington, D.C.) · 2026Article
- Development of structured fabric-based endoscopic guiding sheath with tunable diameter and stiffness functions.Journal of robotic surgery · 2025Article
- Instant variable stiffness in cardiovascular catheters based on fiber jamming.Science advances · 2025Article
- Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2024Article
- Modeling and experimental analysis of wire-driven continuum surgical robot.Journal of robotic surgery · 2024Article
- An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control.Cyborg and bionic systems (Washington, D.C.) · 2024Article
- A variable stiffness manipulator with multifunctional channels for endoscopic submucosal dissection.International journal of computer assisted radiology and surgery · 2023Article
- A Survey of Transoral Robotic Mechanisms: Distal Dexterity, Variable Stiffness, and Triangulation.Cyborg and bionic systems (Washington, D.C.) · 2023Review
- Reprogrammable soft actuation and shape-shifting via tensile jamming.Science advances · 2021Article
- A Soft Pneumatic Two-Degree-of-Freedom Actuator for Endoscopy.Frontiers in robotics and AI · 2021Article
- Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization.PloS one · 2021Article
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Soft robots have proved to represent a new frontier for the development of intelligent machines able to show new capabilities that can complement those currently performed by robots based on rigid materials. One of the main application areas where this shift is promising an impact is minimally invasive surgery. In previous works, the STFF-FLOP soft manipulator has been introduced as a new concept of using soft materials to develop endoscopic tools. In this paper, we present a novel kind of stiffening system based on fiber jamming transition that can be embedded in the manipulator to widen its applicability by increasing its stability and with the possibility to produce and transmit higher forces. The STIFF-FLOP original module has been re-designed in two new versions to incorporate the variable stiffness mechanism. The two designs have been evaluated in terms of dexterity and variable stiffness capability and, despite a general optimization rule did not clearly emerge, the study confirmed that fiber jamming transition can be considered an effective technological approach for obtaining variable stiffness in slender soft structures.
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