A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control.
Adv Sci (Weinh)
; 8(18): e2101290, 2021 09.
Article
en En
| MEDLINE
| ID: mdl-34272935
ABSTRACT
Minimally invasive robotic surgery often requires functional tools that can change their compliance to adapt to the environment and surgical needs. This paper proposes a submillimeter continuous variable stiffness catheter equipped with a phase-change alloy that has a high stiffness variation in its different states, allowing for rapid compliance control. Variable stiffness is achieved through a variable phase boundary in the alloy due to a controlled radial temperature gradient. This catheter can be safely navigated in its soft state and rigidified to the required stiffness during operation to apply a desired force at the tip. The maximal contact force that the catheter applies to tissue can be continuously modified by a factor of 400 (≈20 mN-8 N). The catheter is equipped with a magnet and a micro-gripper to perform a fully robotic ophthalmic minimally invasive surgery on an eye phantom by means of an electromagnetic navigation system.
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Banco de datos:
MEDLINE
Asunto principal:
Procedimientos Quirúrgicos Oftalmológicos
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Procedimientos Quirúrgicos Mínimamente Invasivos
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Diseño de Equipo
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Fenómenos Mecánicos
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Catéteres
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Procedimientos Quirúrgicos Robotizados
Idioma:
En
Año:
2021
Tipo del documento:
Article