Abad Guaman, S; Arezzo, A; Homer-Vanniasinkam, S; Wurdemann, H; (2022) Soft robotics systems for endoscopic interventions. In: Endorobotics: Design, R&D and Future Trends. (pp. 61-93). Academic Press: Amsterdam, Netherlands.

Text endoscopy_robots_chapter-1.pdf - Accepted Version Access restricted to UCL open access staff Download (744kB)

Abstract

The field of soft robotics has established itself as an important research topic within robotics, offering several advantages over traditional rigid robots. This paradigm shift introduced by advances in material science and manufacturing methods has enabled new capabilities. These emerging soft robotic systems can squeeze and move through narrow openings, elongate, navigate around obstacles, and are considered inherently safe. In particular, the healthcare domain has been identified as one of the areas that might benefit from applying soft robotic systems. This chapter focuses on the application of soft robotic systems for endoscopic interventions. At the outset, we provide an overview of endoscopic procedures and commercially available technologies and tools highlighting current challenges and how soft robotics might benefit. As soft robotic systems for healthcare application are a relatively young research area, we compiled a list of recommendations for creating soft robotic medical devices. Relevant topics include dimension requirements, biocompatibility as well as reliability of materials, durability specification, and ergonomics. Finally, a discussion of current soft robotic medical devices concerning the aforementioned endoscopic procedures will identify shortcomings and future research challenges.

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