Design of a Low-cost Tactile Robotic Sleeve for Autonomous Endoscopes and Catheters

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Fältnamn	Indikatorer	Metadata
000		04643naa a2200529 4500
001		oai:research.chalmers.se:b97c0929-a2ae-489b-be4d-cd02b6742959
003		SwePub
008		200124s2020 \| \|\|\|\|\|\|\|\|\|\|\|000 \|\|eng\|
024	7	a https://doi.org/10.1177/00202940198953032 DOI
024	7	a https://research.chalmers.se/publication/5150812 URI
024	7	a https://research.chalmers.se/publication/5152432 URI
040		a (SwePub)cth
041		a engb eng
042		9 SwePub
072	7	a art2 swepub-publicationtype
072	7	a ref2 swepub-contenttype
100	1	a Boyraz Baykas, Pinar,d 1981u Chalmers tekniska högskola,Chalmers University of Technology4 aut0 (Swepub:cth)baykas
245	1 0	a Design of a Low-cost Tactile Robotic Sleeve for Autonomous Endoscopes and Catheters
264		c 2020-01-24
264	1	b SAGE Publications,c 2020
338		a electronic2 rdacarrier
520		a 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.
650	7	a TEKNIK OCH TEKNOLOGIERx Maskinteknik0 (SwePub)2032 hsv//swe
650	7	a ENGINEERING AND TECHNOLOGYx Mechanical Engineering0 (SwePub)2032 hsv//eng
650	7	a TEKNIK OCH TEKNOLOGIERx Maskinteknikx Annan maskinteknik0 (SwePub)203992 hsv//swe
650	7	a ENGINEERING AND TECHNOLOGYx Mechanical Engineeringx Other Mechanical Engineering0 (SwePub)203992 hsv//eng
650	7	a TEKNIK OCH TEKNOLOGIERx Medicinteknikx Annan medicinteknik0 (SwePub)206992 hsv//swe
650	7	a ENGINEERING AND TECHNOLOGYx Medical Engineeringx Other Medical Engineering0 (SwePub)206992 hsv//eng
650	7	a TEKNIK OCH TEKNOLOGIERx Medicinteknikx Medicinsk apparatteknik0 (SwePub)206042 hsv//swe
650	7	a ENGINEERING AND TECHNOLOGYx Medical Engineeringx Medical Equipment Engineering0 (SwePub)206042 hsv//eng
650	7	a TEKNIK OCH TEKNOLOGIERx Elektroteknik och elektronikx Robotteknik och automation0 (SwePub)202012 hsv//swe
650	7	a ENGINEERING AND TECHNOLOGYx Electrical Engineering, Electronic Engineering, Information Engineeringx Robotics0 (SwePub)202012 hsv//eng
653		a human-centric robotic design
653		a robotic sleeve
653		a safe robotic design
653		a artificial skin
653		a autonomous catheter
700	1	a Tappe, Svenjau University of Hanover, Germany4 aut
700	1	a Ortmaier, Tobiasu University of Hanover, Germany4 aut
700	1	a Raatz, Annikau University of Hanover, Germany4 aut
710	2	a University of Hanover, Germanyb Chalmers tekniska högskola4 org
773	0	t Measurement and Controld : SAGE Publicationsg 53:3-4, s. 613-626q 53:3-4<613-626x 0020-2940
856	4	u https://research.chalmers.se/publication/515243/file/515243_Fulltext.pdfx primaryx freey FULLTEXT
856	4	u https://journals.sagepub.com/doi/pdf/10.1177/0020294019895303
856	4 8	u https://doi.org/10.1177/0020294019895303
856	4 8	u https://research.chalmers.se/publication/515081
856	4 8	u https://research.chalmers.se/publication/515243

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Av författaren/redakt...: Boyraz Baykas, P ...; Tappe, Svenja; Ortmaier, Tobias; Raatz, Annika

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