A Millimeter-Scale Soft Robot for Tissue Biopsy Procedures

Overview

Journal Adv Intell Syst

Specialty Biomedical Engineering

Date 2023 Aug 28

PMID 37637939

Authors

Daniel Van Lewen

Taylor Janke

Ryan Austin

Harin Lee

Ehab Billatos

Sheila Russo

Affiliations

Soon will be listed here.

Abstract

While interest in soft robotics as surgical tools has grown due to their inherently safe interactions with the body, their feasibility is limited in the amount of force that can be transmitted during procedures. This is especially apparent in minimally invasive procedures where millimeter-scale devices are necessary for reaching the desired surgical site, such as in interventional bronchoscopy. To leverage the benefits of soft robotics in minimally invasive surgery, a soft robot with integrated tip steering, stabilization, and needle deployment capabilities is proposed for lung tissue biopsy procedures. Design, fabrication, and modeling of the force transmission of this soft robotic platform allows for integration into a system with a diameter of 3.5 mm. Characterizations of the soft robot are performed to analyze bending angle, force transmission, and expansion during needle deployment. In-vitro experiments of both the needle deployment mechanism and fully integrated soft robot validate the proposed workflow and capabilities in a simulated surgical setting.

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