Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures
Sheila Russo, Tommaso Ranzani, Joshua B. Gafford, Conor J. Walsh, Robert J. Wood
Abstract
This paper introduces a manufacturing technique which enables the integration of soft materials and soft fluidic micro-actuators in the Pop-up book MEMS paradigm. Such a technique represents a promising approach to the design and fabrication of low cost and scalable articulated mechanisms provided with sensing capabilities and on-board actuation with potential applications in the field of minimally invasive surgery. Design and integration of soft components in the rigid-flex laminates is described along with the resulting soft pop-up mechanisms realized at different scales. Prototype characterization is presented, demonstrating forces and dexterity in a range suitable for surgical applications, as well as the possibility to integrate sensing capabilities. Based on these results, a multi-articulated robotic arm is fabricated and mounted on top of an endoscope model to provide a proof of concept of simple robotic mechanisms that could be useful in a surgical scenario.
BibTeX
@inproceedings{icra2016_softpopupmechani,
title = {Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures},
author = {Sheila Russo and Tommaso Ranzani and Joshua B. Gafford and Conor J. Walsh and Robert J. Wood},
booktitle = {ICRA 2016},
year = {2016}
}