Soft pneumatic actuators (SPAs), as novel types of motion drivers for robotic devices, excel in many applications, such rehabilitation and biomimicry, which demand compliance softness. To further expand their scope utilization, the SPAs should be customizable to meet distinctive requirements different applications. This article proposes a perspective on SPA working mechanism based stiffness distribution then presents versatile method called customization patterning (SCP) body layout attempt...

Traditional rigid robotic arms have been widely used in various industries. They own the merits of high force output, precise control, and efficiency. However, a arm is seldom by people daily life, as cost usually and, most importantly, its rigidity, large weight, noncompliance can cause safety concerns when it comes to human-robot interaction. Therefore, we want build that cheap, lightweight, provides safe interaction with humans. This soft inflatable arm, which made from low-cost fabrics...

A master-slave vascular interventional surgical robotic system (MSVISRs) promises to treat cardio-cerebrovascular diseases without damaging the health of surgeons. Although many scholars are engaged in research on slave manipulator for MSVISRs, there very few studies master manipulator. In this study, a surgeon's habits-based novel is developed. This imitates operating habits surgeons surgery and uses non-contact method with an optical mouse sensor measure displacements. The novelty approach...

Abstract Background An Internet‐based tele‐operative robotic catheter operating system was designed for vascular interventional surgery, to afford unskilled surgeons the opportunity learn basic catheter/guidewire skills, while allowing experienced physicians perform surgeries cooperatively. Remote surgical procedures, limited by variable transmission times visual feedback, have been associated with deterioration in operability and wall damage during surgery. Methods At patient's location,...

In digital nerve repair surgery, handling the nerves using traditional forceps requires surgeons to be extremely cautious in order minimize unintended iatrogenic trauma. These injuries are mainly caused by excessively forceful manipulation with metallic rigid forceps. Soft pneumatic actuators have been increasingly adopted broaden biomedical applications of conventional structures due their inherent excellent compliance and compressibility. Existing soft grippers, however, face barriers use...

In vascular interventional surgery, surgeons operate guidewires and catheters to diagnose treat patients with the assistance of digital subtraction angiography (DSA). Therefore, surgeon will be exposed X-rays for extended periods. To protect surgeon, development a robot-assisted surgical system is great significance. The displacement tracking accuracy most important issue considered in system. this study, active disturbance rejection control (ADRC) method applied guarantee accuracy. First,...

Soft robots have received much attention due to their impressive capabilities including high flexibility and inherent safety features for humans or unstructured environments compared with hard-bodied robots. actuators are the crucial components of soft robotic systems. require dexterous provide desired deformation different applications. Most existing only one two modes. In this article, a new pneumatic actuator (SPA) is proposed taking inspiration from Kirigami. Kirigami-inspired cuts...

Image guidance during minimally invasive intravascular interventions is primarily achieved based on X-ray fluoroscopy, which has several limitations including limited 3-D imaging capability, significant doses of radiation to operators, and lack contact force measurement between the cardiovascular tissue interventional tools. Ultrasound can be adopted complement or possibly replace 2-D fluoroscopy for due its portability, safety use, ability providing depth information. However, it...

Soft pneumatic actuators (SPAs) have existed for many years as one of the mainstream actuators. Along with rise soft robotics, development in SPA designs recent was especially rapid and diverse. Particularly innovations fabrication, there is an increasing variety SPAs different air chamber designs, varied scales, distinctive motion modalities. Collectively, it can be seen that majority come format a finger-like one-dimensional actuator. To expand spectrum, this article gives detailed...

Minimally invasive surgery is a specialized surgical technique that permits vascular interventions through very small incisions. This minimizes patients’ trauma and faster recovery compared to conventional surgery. The significant disadvantage of this is, however, its complexity; therefore, it requires extensive training before In paper, we presented virtual reality simulators for with force feedback in minimally application allows generating realistic physicalbased models catheters blood...

Wearable robots are playing a more and important role in our daily lives with their direct physical support to human body. However, there limitation risks of using conventional robotic technology wearable robot. Alternatively, soft robot has been applied make devices for various purposes. In this paper, we propose novel inflatable arm made entirely from TPU-coated fabric. A new bending mechanism, design fabrication method elaborated detail. The preliminary characterization experiments were...

Soft compliant gripping is a promising way to protect soft tissues from the grip damage caused by high stress points in delicate surgical manipulation. In this paper, new robotic gripper designed minimize risk of due over-gripping force generated conventional forceps. This consists 3D-printed hook retractor shell, inflatable actuator and two small rods. The ability achieved inflated pneumatic actuator. Two rods are used separate into three-fingers-like bloats which can firmly multi-contacts...

This paper presents a novel capacitive-based flexible pressure sensor that achieves relatively high sensitivity with an outstanding linearity over large measurement range, as well low-pressure detection capacity. The proposed mainly consists of two conductive composite electrodes and one micro-structured elastomer both pillars cavities. highly stretchable modal fabrics carbon nanotubes paste have been for mixture to generate capacitor electrode plates, provide improved attributes in terms...

Vascular interventional surgery is a typical method for diagnosing and treating cardio-cerebrovascular diseases. However, surgeon exposed to significant X-radiation exposure when the operation conducted long period of time. A vascular intervention surgical robotic system assisting promising approach address aforementioned issue. When developing system, high displacement accuracy crucial, this can aid in enhancing operating efficiency safety. In study, novel kinetics analysis active...

Silicone-based soft pneumatic actuator (SPA) is one of the key interests in robotic research. Currently, most SPAs bear a similar one-dimensional rod-like shape, regardless their design and fabrication. There are few prototypes with two-dimensional initial shapes, however, they basically linear combination several SPAs. This paper presents new class silicone-based SPA named pad (SRP). The SRP shaped into single flat air chamber can generate different kinds motions according to internal...