A stiffness-tunable soft actuator inspired by helix for medical applications.

Journal: International journal of computer assisted radiology and surgery
Published Date: Sep 1, 2023

Abstract

PURPOSE: This paper introduces the stiffness-tunable soft actuator (STSA), a novel device that combines a silicone body with a thermoplastic resin structure (TPRS). The STSA's design allows for the variable stiffness of soft robots, significantly increasing their potential for use in medical scenarios such as minimally invasive surgeries (MIS). By adjusting the stiffness of the STSA, it is possible to enhance the robot's dexterity and adaptability, making it a promising tool for performing complex tasks in narrow and delicate spaces.

Authors

  • Shangqi Dai
    Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
  • Chengquan Hu
    Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
  • Longfei Ma
    Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, 100084, China.
  • Xinran Zhang
  • Hui Zhang
    Department of Pulmonary Vessel and Thrombotic Disease, Sixth Medical Center, Chinese PLA General Hospital, Beijing, China.
  • Hongen Liao

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