http://kclhammerlab.com Kings College London Director and Principal - PowerPoint PPT Presentation

Dr Hongbin Liu Haptic Mechatronics and Medical Robotics (HaMMeR) Lab Senior Lecturer in Informatics (Robotics) http://kclhammerlab.com King’s College London Director and Principal Investigator

A Brief History of Soft Robots

Soft Robots 2010: the beginning of growth 2010 1990

Soft Robots 2010 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 4 4 4

Soft Robots 2010 Festo – Gemany, Bionic Handling Assistant Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 5 5 5

Soft Robots 2010 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 6 6 6

Robotic Octopus -2010 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 7 7 7

Soft Robots in Medicine - 2012 King’s College London, 2012 2017 Harvard University 2013 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 8 8 8

Octopus inspired Soft Robots for surgery Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 9 9 9

Octopus inspired Soft Robots for surgery Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 10 10 10

Soft Robots hand Harvard Pisa Passive compliance to increase adaptiveness Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 11 11 11

Soft worm robots Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 12 12 12

Koichi Suzumori

13-06-2018 Soft robotics are hot in the research -but still waiting for major industry success

Limited Haptic Capability Number of haptic sensing elements or dimension None ~10 ~20 3 5

Nature Hairs as mechanorece ptors: touch, vibration, motion Pores on the hair act a s chemoreceptor recei ves taste and smell ~ 50 μ m 16 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 16 16 16

Lab Mission Our lab designs robots with advanced haptic perception and interaction capabilities to address unmet needs in medicine, enabling safer and more effective diagnosis and treatment. Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 17 17 17

Soft Medical Devices Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 18 18 18

Nature • Full body haptic sensing • Shape awareness • Distributed neural processing Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 19 19 19

Challenge in haptic sensing and interaction • Thin and flexible with large deflection and internal friction • Difficult to instrument sensors • Multiple contacts along the body: boundary condition is unknown Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 20 20 20

Haptic Interaction with unknown contacts on the body

23 Soft robot haptic interaction -Making use of the morphology (physical properties-stiffness, shape of both robot and environment ) Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 23 23 23

Soft Robotic Platform for Ultrasound Imaging intelligent Fetal Imaging and Diagnosis Passive arm Soft end-effector Hydraulic actuated soft actuators with intrinsic force sensing Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 24 24 24

Constrained motion intelligent Fetal Imaging and Diagnosis End-effector in contact with phantom Image feedback A novel soft, parallel end-effector for robot-assisted ultrasound interventions , L Lindenroth, A Soor, J Hutchinson, A Shafi, J Back, K Rhode, H Liu, IEEE International Conference on Intelligent Robots and Systems 2017 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 25 25 25

Intrinsic force sensing intelligent Fetal Imaging and Diagnosis Pressure feedback Intrinsic force sensing capabilities in compliant robots comprising hydraulic actuation , L Lindenroth, C Duriez, J Back, K Rhode, H Liu, IEEE Int ernational Conference on Intelligent Robots and Systems 2017 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 26 26 26

Evaluation by Sonographer Example: Head Circumference measurement Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 27 27 27

Soft and self propelled endoscope for diagnosis and intervention for lower digestive tract

The Challenge of Colonoscopy Idealised procedure Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 29 29 29

Real State-of-the-Art Procedure Before After It is this deformation of the colon which induces pain for the patient. Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 30 30 30

Setae Earthworm

Bioinspired soft worm robot Setae Earthworm Artificial setae Artificial setae

Morphology matters! Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 33 33 33

Locomotion with local morphology change kclhammerlab.com Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 34 34 34

Morphology of environment 35 Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 IROS 2015 – Hamburg Kclhammerlab.com King’s College London 35 35 35

Lessons learned

Acknowledgments HaMMeR Team • Junghwan Back • Julius Bernth • Yu Chen • Jian Hu • Lukas Lindenroth • George Abrahams • Teng Sun Kclhammerlab.com IROS 2015 – Hamburg Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 King’s College London 37 37 37