A natural orifice soft robot with novel driven method for minimally invasive surgery (MIS)

摘要

A a soft and rigid pneumatic drive endoscope was addressed, which includes rigid and soft switchable endoscope and shape-shifting section and rigid to soft endoscope-switching and shape-shifting section. It is characterized by multiplexing pneumatic driven chamber and endoscopic instrument (the diameter is 2.8 mm). First, driven mechanism and mechanical structure of the proposed soft and rigid pneumatic drive endoscope were explained in detail. Then, the calculation method of shape-shifting endoscope tracking a given spatial shape of chambers was investigated. This soft and flexible pneumatic drive robot is a new therapeutic system for minimally invasive surgery, serving as a new therapeutic method for lesions in organ chambers.