Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach...

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Jelizaveta Konstantinova Helge Wurdemann

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery

The STIFF-FLOP Approach

Jelizaveta Konstantinova, Helge Wurdemann, Ali Shafti , Ali Shiva (King's College London, UK)

$179

Hardback

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English

River Publishers
30 April 2018

Surgical techniques; Robotics

"Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project, funded by 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. 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 actuatorsContinuum soft manipulatorsControl, kinematics and navigation of continuum manipulatorsOptical sensors for force, torque, and curvatureHaptic feedback and human interface for surgical systemsValidation of soft stiffness controllable robots"

Edited by: Jelizaveta Konstantinova, Helge Wurdemann, Ali Shafti, Ali Shiva (King's College London, UK), Kaspar Althoefer (Queen Mary University of London, UK)
Imprint: River Publishers
Country of Publication: Denmark
Dimensions: Height: 234mm, Width: 156mm,
Weight: 725g
ISBN: 9788793519725
ISBN 10: 8793519729
Pages: 418
Publication Date: 30 April 2018
Audience: Professional and scholarly , Undergraduate
Format: Hardback
Publisher's Status: Active

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery

Jelizaveta Konstantinova, Helge Wurdemann, Ali Shafti