A Pop-Up Soft Robot Driven by Hydraulic Folded Actuators for Minimally Invasive Surgery

EasyChair Preprint no. 12922

Abstract

This article presents an inflatable robot which is largely made of flexible plastic film. In the deflated state, it is easy to collapse, fold and roll into a small size, promising easier delivery by a carrier endoscope to the proximal colon. After reaching the target site, the robot is inflated and the surgery is performed.The robot is driven by a novel actuator, which uses a folded chamber to pull the cable to produce a large displacement without the need of displacement amplification mechanisms.

Keyphrases: actuator, soft robot, surgical robot

@Booklet{EasyChair:12922,
  author = {Jianlin Yang and Mark Runciman and James Avery and Zhijun Sun and George Mylonas},
  title = {A Pop-Up Soft Robot Driven by Hydraulic Folded Actuators for Minimally Invasive Surgery},
  howpublished = {EasyChair Preprint no. 12922},

  year = {EasyChair, 2024}}