Abstract

Soft robots have significantly impacted the field of minimally invasive surgeries, owing to their flexibility, adaptability, and capability to maneuver through previously inaccessible, deep-seated regions. In the realms of lung and ENT, robot-assisted endoluminal interventions have yielded promising initial results, particularly in cancer detection and treatment. These advancements offer new possibilities for early diagnosis and effective therapeutic interventions in oncology.
A persistent challenge lies in the precise navigation of these flexible instruments towards specific anatomical targets and in maintaining a consistent aiming direction while inserting biopsy or interventional tools through the lumens. These tasks are further complicated by intrinsic physiological movements, such as breathing and heartbeats.
The objective of this study is to explore the feasibility of adapting appropriate modeling and control approaches for soft robots in endoluminal lung and ENT interventions. Soft robots necessitate a control system capable of accurately understanding their intricate behavior, thereby ensuring precision in operation. The initial phase of this research introduces a groundbreaking mechanistic model for soft robots, incorporating hyperelastic effects and stiffness adaptation. The focus here is on experimental investigations into tip position control for soft robots.
The second phase of the research details the development of an innovative, model-free optical flow-based control method, significantly enhancing precision in tendon-driven soft robotic surgery for intraluminal procedures. The integration of a micro-camera within the robot's tip, providing continuous visual feedback, is a key advancement of this system. These results hold great promise for elevating operational precision in robotic-assisted surgery and enhancing intraluminal navigation.
The core challenge addressed by this research is the development of a real-time control system that facilitates precise robotic manipulation during surgeries while being user-friendly for surgeons.