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Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach by Jelizaveta Konstantinova

Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery: The STIFF-FLOP Approach

by Jelizaveta Konstantinova
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Book cover type: Hardcover
  • ISBN13: 9788793519725
  • Binding: Hardcover
  • Subject: N/A
  • Publisher: Taylor & Francis
  • Publisher Imprint: River Publishers
  • Publication Date:
  • Pages: 418
  • Original Price: GBP 86.99
  • Language: English
  • Edition: N/A
  • Item Weight: 758 grams
  • BISAC Subject(s): Robotics, Biomedical, and Optics

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

Konstantinova, Jelizaveta: - 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.

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