A Handheld Robotic Device with A Bidirectional Flexible Clamp for Minimally Invasive Surgery

In recent years, Minimally Invasive Surgery (MIS) is emerging as a steadily effective method for the treatment of Cardio Vascular Disease (CVD) and Gastro Intestinal (GI) cancer. MIS method has the ability to move precisely through the intricate anatomical structures by using soft robotic catheters. Soft invasive materials have attracted substantial research attention in recent times. In contrary, current systems are operated by rigid pull-wire mechanisms that shows a high force loss and nonlinear hysteresis. To work in the complicated anatomical corners of the internal organs several actuators are required to operate the bending tip. This research study proposes new robotic catheters to overcome the existing challenges. With a single actuation source, the catheters can attain bidirectional bending motion and spiral shapes. In the proposed model, the controls are highly movable and comfortable. A mathematical model of the bending effector comes into existence and is also experimentally verified. Robotic catheters may allow rapid and more accurate handling of cardiac and GI targets, allowing for quick thrombus removal therapy.