A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control,Advanced Science

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A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control
Advanced Science ( IF 14.3 ) Pub Date : 2021-07-17 , DOI: 10.1002/advs.202101290
Jonas Lussi ₁ , Michael Mattmann ₁ , Semih Sevim ₂ , Fabian Grigis ₁ , Carmela De Marco ₁ , Christophe Chautems ₁ , Salvador Pané ₁ , Josep Puigmartí-Luis _{3,

4} , Quentin Boehler ₁ , Bradley J Nelson ₁

Affiliation

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.

中文翻译：

用于顺应性控制的亚毫米连续可变刚度导管

微创机器人手术通常需要可以改变其顺应性以适应环境和手术需求的功能工具。本文提出了一种配备相变合金的亚毫米连续变刚度导管，该合金在不同状态下具有较高的刚度变化，从而实现快速的顺应性控制。由于受控的径向温度梯度，通过合金中的可变相界实现了可变刚度。该导管可以在其柔软状态下安全地导航，并在操作过程中硬化至所需的刚度，以在尖端施加所需的力。导管施加到组织的最大接触力可以连续修改 400 倍 (≈20 mN–8 N)。该导管配备有磁铁和微型夹具，可通过电磁导航系统对眼睛模型进行完全机器人眼科微创手术。

更新日期：2021-09-22

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