Evidence map›Paper›PMID 37178187›Full record

ArticleInternational journal of computer assisted radiology and surgery2023

A stiffness-tunable soft actuator inspired by helix for medical applications.

Shangqi Dai, Chengquan Hu, Longfei Ma, Xinran Zhang, Hui Zhang, Hongen Liao

Abstract read
PubMed Publisher
In one paragraph

Article in International journal of computer assisted radiology and surgery, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.

0numbers the graph read from it
0cells of the map it votes in
2citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

2 citing papers in PubMed.

  1. Article
  2. Design and navigation method of a soft robot for single-port transvesical radical prostatectomy.International journal of computer assisted radiology and surgery · 2024
    Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

6 authors.

Shangqi DaiDepartment of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
Chengquan HuDepartment of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
Longfei MaDepartment of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
Xinran ZhangDepartment of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
Hui ZhangDepartment of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
Hongen LiaoDepartment of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China. liao@tsinghua.edu.cn.ORCID http://orcid.org/0000-0003-3847-9347

Funding

Beijing Municipal Natural Science Foundation 7212202Institute for Intelligent Healthcare, Tsinghua University 2022ZLB001National Key Research and Development Program of China 2022YFC2405200National Natural Science Foundation of China 82027807National Natural Science Foundation of China U22A2051Tsinghua-Foshan Innovation Special Fund 2021THFS0104
6 · The paper itself

Abstract

purposeThis paper introduces the stiffness-tunable soft actuator (STSA), a novel device that combines a silicone body with a thermoplastic resin structure (TPRS). The STSA's design allows for the variable stiffness of soft robots, significantly increasing their potential for use in medical scenarios such as minimally invasive surgeries (MIS). By adjusting the stiffness of the STSA, it is possible to enhance the robot's dexterity and adaptability, making it a promising tool for performing complex tasks in narrow and delicate spaces.

methodsThe stiffness of the STSA can be modulated by altering the temperature of the TPRS, which has been inspired by the helix and is integrated into the soft actuator to achieve a broad range of stiffness modulation while maintaining flexibility. The STSA has been designed with both diagnostic and therapeutic functions in mind, with the hollow area of the TPRS serving as an instrument channel for delivering surgical instruments. Additionally, the STSA features three uniformly arranged pipelines for actuation by air or tendon, and can be expanded with more functional chambers for endoscopy, illumination, water injection, and other purposes.

resultsExperimental results show that the STSA can achieve a maximum 30-fold stiffness tuning, providing a significant improvement in load capacity and stability when compared to pure soft actuators (PSAs). Of particular importance, the STSA is capable of achieving stiffness modulation below 45 °C, thereby ensuring a safe entry into the human body and creating an environment conducive to the normal operation of surgical instruments such as endoscope.

conclusionThe experimental findings indicate that the soft actuator with TPRS can achieve a broad range of stiffness modulation while retaining flexibility. Moreover, the STSA can be designed to have a diameter of 8-10 mm, which satisfies the diameter requirements of a bronchoscope. Furthermore, the STSA has the potential to be utilized for clamping and ablation in a laparoscopic scenario, thereby demonstrating its potential for clinical use. Overall, these results suggest that the STSA has significant promise for use in medical applications, particularly in the context of minimally invasive surgeries.

Indexed as

LaparoscopyRoboticsEquipment DesignHumansMinimally Invasive Surgical ProceduresSurgical InstrumentsSoft actuatorStiffness-tunableSymmetrical double helix structureThermoplastic polymer

Identifiers

PMID37178187

What OpenQuestion holds

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Registered trials

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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.