Introduction The oncologic adequacy of laparoscopy in digestive surgery is still controversial, especially in some technically demanding operations like Total Mesorectal Excision (TME). Even if standard robotic platforms, i.e. the da Vinci Surgical System, can improve dexterity and manouvrability of surgical instruments, there is no evidence supporting its use in digestive and rectal cancer surgery. The only multi-centre prospective RCT (ROLARR trial) suggests that robotic TME has no advantages compared to laparoscopic TME in terms of clinical and oncologic outcomes. A possible explanation of this lack of real advantages is that the articulation is possible only on the tip of the instrument. The opportunity to have a robotic platform with modular flexibility on the whole length of the arm could overcome technical limitations, improving results and allowing standardization and diffusion of the procedures. Methods The 7FP STIFF FLOP project was financed by the European Commission in order to develop a STIFFness controllable Flexible and Learn-able manipulator for surgical operations. Engineers were inspired by the tentacles of an octopus. A prototype was realized, consisting of multiple soft, pneumatically actuated threechamber segments. Additional chambers are integrated within the segments to allow their stiffening, employing an approach based on the concept of granular jamming. The STIFF-FLOP segments are actuated using pressure regulators and the stiffening chambers are interfaced via valves, applying a vacuum to the granules in the chambers. Sensors are embedded in the STIFF-FLOP modules to measure interaction forces (between the robot and its environment) and the robot’s configuration. A newly developed user interface, based on a Delta robot design, is used to move and position the tip of the STIFF-FLOP arm inside the abdomen. Signals obtained from sensors are fed back to the user interface console providing the operator with force feedback. The entire soft robot is equipped with a 4 mm in diameter ...
Development and applicability of a soft and flexible robotic arm in digestive surgery
2018-06-15
doi:10.6092/polito/porto/2710428
Theses
Electronic Resource
English
DDC: | 629 |
A Robotic System for Solo Surgery in Flexible Ureterorenoscopy
German Aerospace Center (DLR) | 2022
|Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery
BASE | 2015
|Force Feedback Enhancement for Soft Tissue Interaction Tasks in Cooperative Robotic Surgery
BASE | 2015
|