Soft robots have recently gained attention in minimally invasive surgery for their potential to navigate the body’s complex natural pathways under autonomous control, allowing for precise positioning and an overall increased efficiency of surgery. The aim of this project is to develop a soft robotic system, on the necessary scale for bronchoscopy investigations, capable of autonomous navigation to a region of interest. The soft robotic design is expected to take the form of a tendon-driven continuum robot, featuring space internally to incorporate a biopsy tool, suction and sensor, which could be a forward-facing camera. A feedforward control strategy will be formulated for autonomous trajectory tracking, which will utilise a bespoke mathematical representation of the robotic system, which will be based on elastic rod theory. A combined feedforward and feedback strategy will also be investigated to ensure precise positioning. Validation will be completed on an imitation respiratory system.
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A novel flexible robot for automated bronchoscopy investigations
