Design of a Low-cost Tactile Robotic Sleeve for Autonomous Endoscopes and Catheters
Journal article, 2020

Recent developments in medical robotics have been significant, supporting the minimally invasive operation requirements, such as smaller devices and more feedback available to surgeons. Nevertheless, the tactile feedback from a catheter or endoscopic type robotic device has been restricted mostly on the tip of the device and was not aimed to support the autonomous movement of the medical device during operation. In this work, we design a robotic sheath/sleeve with a novel and more comprehensive approach, which can function for whole-body or segment-based feedback control as well as diagnostic purposes. The robotic sleeve has several types of piezo-resistive pressure and extension sensors, which are embedded at several latitudes and depths of the silicone substrate. The sleeve takes the human skin as a biological model for its structure. It has a better tactile sensation of the inner tissues in the torturous narrow channels such as cardiovascular or endo-luminal tracts in human body thus can be used to diagnose abnormalities. In addition to this capability, using the stretch sensors distributed alongside its body, the robotic sheath/sleeve can perceive the ego-motion of the robotic backbone of the catheter and can act as a position feedback device. Because of the silicone substrate, the sleeve contributes toward safety of the medical device passively by providing a compliant interface. As an active safety measure, the robotic sheath can sense blood-clots or sudden turns inside a channel and by modifying the local trajectory, and can prevent embolisms or tissue rupture. In the future, advanced manufacturing techniques will increase the capabilities of the tactile robotic sleeve.

robotic sleeve

safe robotic design

human-centric robotic design

autonomous catheter

artificial skin

Author

Pinar Boyraz Baykas

Chalmers, Mechanics and Maritime Sciences, Vehicle Safety, Olycksanalys och prevention

Svenja Tappe

University of Hanover

Tobias Ortmaier

University of Hanover

Annika Raatz

University of Hanover

Measurement and Control

0020-2940 (ISSN)

Vol. in press

Subject Categories

Mechanical Engineering

Other Mechanical Engineering

Other Medical Engineering

Medical Equipment Engineering

Robotics

Areas of Advance

Information and Communication Technology

Health Engineering

Life Science Engineering (2010-2018)

Materials Science

Roots

Basic sciences

Driving Forces

Innovation and entrepreneurship

DOI

10.1177/0020294019895303

More information

Latest update

2/12/2020