Soft and Stiffness-Controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach - Couverture rigide

Couverture rigide

ISBN 10 : 8793519729 ISBN 13 : 9788793519725

Editeur : River Publishers, 2018

Synopsis

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery presents the results of a research project, funded by European Commission, STIFF-FLOP: STIFFness controllable Flexible and Learn-able manipulator for surgical Operations.

In Minimally Invasive Surgery (MIS), tools go through narrow openings and manipulate soft organs that can move, deform, or change stiffness. There are limitations on modern laparoscopic and robot-assisted surgical systems due to restricted access through Trocar ports, lack of haptic feedback, and difficulties with rigid robot tools operating inside a confined space filled with organs. Also, many control algorithms suffer from stability problems in the presence of unexpected conditions. Yet biological "manipulators", like the octopus arm can manipulate objects while controlling the stiffness of selected body parts and being inherently compliant when interacting with objects. STIFF-FLOP robot is an innovative soft robotic arm that can squeeze through a standard MIS, reconfigure itself and stiffen by hydrostatic actuation to perform compliant force control tasks while facing unexpected situations.

Technical topics discussed in the book include:

• Soft actuators
• Continuum soft manipulators
• Control, kinematics and navigation of continuum manipulators
• Optical sensors for force, torque, and curvature
• Haptic feedback and human interface for surgical systems
• Validation of soft stiffness controllable robots

A propos du livre

À propos des auteurs

Jelizaveta Konstantinova is a Roboticist at The Centre for Advanced Robotics @ Queen Mary University of London. She has received a professional bachelor degree and engineer qualification in Mechatronicsfrom Riga Technical University, Riga, Latvia, in 2010. Further on, she joined King's College London in 2010 and obtained MSc degree in Robotics with the focus on Medical Robotics. From 2011 to 2015, Dr Konstantinova was working towards her PhD degree in Robotics, and from 2015 she was a research associate on EU FP7 project SQUIRREL within the Centre for Robotics Research, King's College London. In 2016 she has moved to Queen Mary University of London as a Postdoctoral Research Assistant. Her research focus is on haptic perception, development of tactile technologies, medical robotics, sensory data fusion and learning for robotics, as well as on design and modelling of soft and flexible robotic manipulators. She is interested to learn the perception capabilities from living organisms and to apply it to robotics, as well as to study the ways we should interpret tactile information obtained with robotic sensory system.

Ali Shafti has a Ph.D. in Robotics from King's College London, UK. He obtained his B.Sc. and M.Sc. in Microelectronics Engineering at Shahid Beheshti University and Amirkabir University of Technology, Tehran, Iran respectively. As part of his PhD, Ali was involved in the STIFF-FLOP project among others, where he explored human-robot interaction/collaboration, wearable technologies, and biomedical instrumentation for human factors. He is currently a Postdoctoral Research Associate at the Brain and Behaviour Laboratory and the Data Science Institute, Imperial College London, where he performs research on human-robot collaborative control, through human behaviour analytics and human/robot in-the-loop machine learning techniques.

Kaspar Althoefer is an electronics engineer, leading research on Robotics at Queen Mary University of London. After graduating with a degree in Electronic Engineering from the University of Technology Aachen, Germany, and obtaining a PhD in Robot Motion Planning from Kings College London, he joined the Kings Robotics Group in 1996 as a Lecturer. Made a Senior Lecturer in 2006, he was promoted to Reader and Professor in 2009 and 2011, respectively. In April 2016, he joined Queen Mary as full Professor of Robotics Engineering. His current research interests are in the areas of robot autonomy, soft robotics, modelling of tool-environment interaction dynamics, sensing and neuro-fuzzy-based sensor signal classification with applications in robot-assisted minimally invasive surgery, rehabilitation, assistive technologies and human-robot interactions in the manufacturing environment. Prof Althoefer has authored/co-authored more than 200 peer-reviewed papers. The majority of his journal papers (over 60%) are in the top journals of the field, including top transactions and journals of the IEEE and ASME and proceedings of the leading national learned societies in the field, IMechE and IET. He is named inventor on five patent applications.

Détails de l'édition

• Éditeur: River Publishers
• Date d'édition: 2018
• Langue: anglais
• ISBN 10: 8793519729
• ISBN 13: 9788793519725
• Reliure: Relié
• Numéro d'édition: 1
• Nombre de pages: 418
• Éditeur: Konstantinova Jelizaveta, Wurdemann Helge, Shafti Ali
• Coordonnées du fabricant: non disponible
• Personne responsable: non disponible