5 accepted papers
Soft robotics offer biocompatibility, dexterity, and safe tissue interaction in surgery, providing potential alternatives to conventional tools such as colonoscopes. However, their nonlinear behaviour demands closed-loop control with structure-compatible feedback. This work presents a scalable 3D sh
This paper presents a soft, inflatable, cable-driven parallel robot (CDPR) for Minimally Invasive Surgery. The CDPR has 5 degrees of freedom and is driven by 6 cables and 6 hydraulic folded actuators. The actuator utilizes a folded chamber to pull a cable. The robot comprises a soft hexagonal variab
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which account…
Incorrectly sized balloon catheters can lead to increased post-surgical complications, yet even with preoperative imaging, correct selection remains a challenge. With limited feedback during surgery, it is difficult to verify correct deployment. We propose the use of integrated impedance measurement…
Soft robotic systems offer benefits over traditional rigid systems through reduced contact trauma with soft tissues and by enabling access through tortuous paths in minimally invasive surgery. However, the inherent deformability of soft robots places both a greater onus on accurate modelling of thei…