Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototypes regarding flexible robots in medicine. With specialists in the medical field increasingly utilizing robotics in medical procedures, it is vital to improve current knowledge regarding technologies available. This book covers the background, medical requirements, biomedical engineering principles, and new research on soft robots, including general flexible robotic systems, design specifications, design rationale, fabrication, verification experiments, actuators and sensors in flexible medical robotic systems.
Presenting several projects as examples, the authors also discuss the pipeline to develop a medical robotic system, including important milestones such as involved regulations, device classifications and medical standards.
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Chapter 2: Prototyping soft origami quad-bellows robots from single-bellows characterization
Chapter 3: Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond
Chapter 4: Flexible steerable manipulator utilizing complementary configuration of multiple routing grooves and ball joints for stable omnidirectional
Chapter 5: Modular origami joint operator to create bendable motions with multiple radii
Chapter 6: Handheld flexible robot with concentric tubes aiming for intraocular procedures
Chapter 7: Tendon routing and anchoring for cable-driven single-port surgical manipulators with spring backbones and luminal constraints
Chapter 8: Compliant bending tubular mechanisms with variable groove patterns for flexible robotic drilling delivery
Chapter 9: Tendon-driven linkage for steerable guide of flexible bending manipulation
Chapter 10: Soft-bodied flexible bending mechanism with silent shape memory alloys aiming for robotic endoscopy
Chapter 11: Comparative mechanical analysis for flexible bending manipulators with quad-tendon antagonistic pairs
Chapter 12: Flexible robotic platform with multiple-bending tendon-driven mechanism
Chapter 13: Design evolution of a flexible robotic bending end-effector for transluminal explorations
Chapter 14: Force sensing in compact concentric tube mechanism with optical fibers
Chapter 15: Electromechanical characterization of magnetic responsive and conductive soft polymer
Chapter 16: Robotic transluminal Pan-and-Tilt Scope
Chapter 17: Single-port multichannel multi-degree-of-freedom robot with variable stiffness for natural orifice transluminal endoscopic surgery
Chapter 18: EndoGoose: flexible and steerable endoscopic forceps with actively pose-retaining bendable sections
Chapter 19: Flexible drill manipulator utilizing different rolling sliding joints for transoral drilling through the tracheal tissue
Chapter 20: Thermo-responsive hydrogel-based circular valve embedded with shape-memory actuators
Chapter 21: OmniFlex: omnidirectional flexible hand-held endoscopic manipulator with spheroidal joint
Dr. Ren's expertise includes Biorobotics & Intelligent Control, particularly the key challenges of flexible continuum compliant cooperative and cognitive robotics, haptics, and sensing and control in constrained human-interactive environments such as in surgeries. Representing a major paradigm shift from open surgery, minimally invasive surgery (MIS) assisted by robotics and sensing is emerging by accessing the surgical targets via either keyholes or natural orifices. It is challenging to accomplish delicate manipulations due to the constraints imposed by the mode of access, confined workspace, complicated surgical structures and the limited available technologies, particularly in terms of endoluminal curvilinear targeting and curvilinear guidance. Addressing the aforementioned challenges and aiming at the next generation of intelligent and flexible minimally invasive robots, he focuses on key biorobotics research in compliant robotic system development, modeling & control, flexible sensing, human-robot interaction and intelligent navigation, tackling fundamental and technical challenges mainly in the context of medical applications.
Dr. Ren has published more than 80 peer-reviewed papers in high-ranking journals and 80 top-tier international conference papers and won a number of awards in his area including the NUS Young Investigator Award, EMedic Global Gold Medal, Best Paper Awards in IEEE RCAR 2016, IEEE CCECE 2015, IEEE ROBIO 2013, IEEE Cyber 2014, and best paper finalists for ICVS2017, CSCWD 2016, ICMA 2016, IEEE ROBIO 2012 and 2013 among others. His supervised FYP students won the BES 2016 design gold award, IEEE RCAR 2016 best student paper award, and NUS FoE 28th Innovation and Research Award and Gold awards from Biomedical engineering Society. The H-index (Google Scholar) of Dr Ren's publication profile is 22 with 1736 citations and is expected to further increase in the future.