Multimaterial Fiber-based Steerable Soft Robot for Minimally Invasive Surgery

Abstract

Minimally Invasive Surgery (MIS) is recognized for reducing both trauma and patient recovery time. The majority of these procedures utilize long, thin and flexible instruments. This study investigates the application of thermally drawn techniques to fabricate compact MIS instruments with steerable tips. The adaptability of this fabrication method, enabled by material selection and structural customization, offers a versatile approach for a broad spectrum of surgical procedures. The proposed design integrates a tendon-driven actuation system with a novel fiber structure composed of Styrene-Ethylene-Butylene-Styrene (SEBS) and Polycarbonate (PC). This design enables remote control of the steerable tip while maintaining shaft rigidity. Experimental characterization demonstrates the system’s workspace, positioning repeatability, tissue-safe interaction forces, and ability to reach targets in confined spaces, highlighting its potential for various surgical interventions.