Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery

This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted therapeutics delivery in Minimally Invasive Surgery. We have recently proposed the use of multi-arm Concentric Tube Robots (CTR) consisting of an incision, a camera, and a gr...

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Autores principales:	Kieran Joymungul, Zisos Mitros, Lyndon da Cruz, Christos Bergeles, S.M.Hadi Sadati
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	suction cup gripper steerable catheters/needles medical robots bioinspiration concentric tube robot Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/aebb18938ff14c17a2b79a89420e6075
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spelling	oai:doaj.org-article:aebb18938ff14c17a2b79a89420e60752021-11-19T07:08:36ZGripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery2296-914410.3389/frobt.2021.752290https://doaj.org/article/aebb18938ff14c17a2b79a89420e60752021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/frobt.2021.752290/fullhttps://doaj.org/toc/2296-9144This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted therapeutics delivery in Minimally Invasive Surgery. We have recently proposed the use of multi-arm Concentric Tube Robots (CTR) consisting of an incision, a camera, and a gripper manipulator for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). The proposed prototype in this research, called Gripe-Needle, is a needle equipped with a sticky suction cup gripper capable of performing both gripping of target tissue and incision tasks in the optic nerve area by exploiting the multi-tube arrangement of a CTR for actuation of the different tool-set units. As a result, there will be no need for an independent gripper arm for an incision task. The CTR innermost tube is equipped with a needle, providing the pathway for drug delivery, and the immediate outer tube is attached to the suction cup, providing the suction pathway. Based on experiments on various materials, we observed that adding a sticky surface with bio-inspired grooves to a normal suction cup gripper has many advantages such as, 1) enhanced adhesion through material stickiness and by air-tightening the contact surface, 2) maintained adhesion despite internal pressure variations, e.g. due to the needle motion, and 3) sliding resistance. Simple Finite Element and theoretical modeling frameworks are proposed, based on which a miniature tool-set is designed to achieve the required gripping forces during ONSF. The final designs were successfully tested for accessing the optic nerve of a realistic eye phantom in a skull eye orbit, robust gripping and incision on units of a plastic bubble wrap sample, and manipulating different tissue types of porcine eye samples.Kieran JoymungulZisos MitrosZisos MitrosLyndon da CruzLyndon da CruzLyndon da CruzChristos BergelesS.M.Hadi SadatiFrontiers Media S.A.articlesuction cup grippersteerable catheters/needlesmedical robotsbioinspirationconcentric tube robotMechanical engineering and machineryTJ1-1570Electronic computers. Computer scienceQA75.5-76.95ENFrontiers in Robotics and AI, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	suction cup gripper steerable catheters/needles medical robots bioinspiration concentric tube robot Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95
spellingShingle	suction cup gripper steerable catheters/needles medical robots bioinspiration concentric tube robot Mechanical engineering and machinery TJ1-1570 Electronic computers. Computer science QA75.5-76.95 Kieran Joymungul Zisos Mitros Zisos Mitros Lyndon da Cruz Lyndon da Cruz Lyndon da Cruz Christos Bergeles S.M.Hadi Sadati Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery
description	This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted therapeutics delivery in Minimally Invasive Surgery. We have recently proposed the use of multi-arm Concentric Tube Robots (CTR) consisting of an incision, a camera, and a gripper manipulator for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). The proposed prototype in this research, called Gripe-Needle, is a needle equipped with a sticky suction cup gripper capable of performing both gripping of target tissue and incision tasks in the optic nerve area by exploiting the multi-tube arrangement of a CTR for actuation of the different tool-set units. As a result, there will be no need for an independent gripper arm for an incision task. The CTR innermost tube is equipped with a needle, providing the pathway for drug delivery, and the immediate outer tube is attached to the suction cup, providing the suction pathway. Based on experiments on various materials, we observed that adding a sticky surface with bio-inspired grooves to a normal suction cup gripper has many advantages such as, 1) enhanced adhesion through material stickiness and by air-tightening the contact surface, 2) maintained adhesion despite internal pressure variations, e.g. due to the needle motion, and 3) sliding resistance. Simple Finite Element and theoretical modeling frameworks are proposed, based on which a miniature tool-set is designed to achieve the required gripping forces during ONSF. The final designs were successfully tested for accessing the optic nerve of a realistic eye phantom in a skull eye orbit, robust gripping and incision on units of a plastic bubble wrap sample, and manipulating different tissue types of porcine eye samples.
format	article
author	Kieran Joymungul Zisos Mitros Zisos Mitros Lyndon da Cruz Lyndon da Cruz Lyndon da Cruz Christos Bergeles S.M.Hadi Sadati
author_facet	Kieran Joymungul Zisos Mitros Zisos Mitros Lyndon da Cruz Lyndon da Cruz Lyndon da Cruz Christos Bergeles S.M.Hadi Sadati
author_sort	Kieran Joymungul
title	Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery
title_short	Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery
title_full	Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery
title_fullStr	Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery
title_full_unstemmed	Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery
title_sort	gripe-needle: a sticky suction cup gripper equipped needle for targeted therapeutics delivery
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/aebb18938ff14c17a2b79a89420e6075
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Gripe-Needle: A Sticky Suction Cup Gripper Equipped Needle for Targeted Therapeutics Delivery

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