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

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

Apr 17, 2023 373 likes •748 views

Dr Hongbin Liu Haptic Mechatronics and Medical Robotics (HaMMeR) Lab Senior Lecturer in Informatics (Robotics) http://kclhammerlab.com Kings College London Director and Principal Investigator A Brief History of Soft Robots Soft Robots

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

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A Brief History of Soft Robots

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Soft Robots 2010: the beginning of growth

1990 2010

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

Soft Robots 2010

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 5 IROS 2015 – Hamburg King’s College London 5 Kclhammerlab.com 5

Soft Robots 2010

Festo – Gemany, Bionic Handling Assistant

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

Soft Robots 2010

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

Robotic Octopus -2010

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 8 IROS 2015 – Hamburg King’s College London 8 Kclhammerlab.com 8

Soft Robots in Medicine - 2012

King’s College London, 2012 Harvard University 2017 2013

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 9 IROS 2015 – Hamburg King’s College London 9 Kclhammerlab.com 9

Octopus inspired Soft Robots for surgery

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 10 IROS 2015 – Hamburg King’s College London 10 Kclhammerlab.com 10

Octopus inspired Soft Robots for surgery

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 11 IROS 2015 – Hamburg King’s College London 11 Kclhammerlab.com 11

Soft Robots hand

Passive compliance to increase adaptiveness

Pisa Harvard

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

Soft worm robots

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Koichi Suzumori

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Soft robotics are hot in the research

  • but still waiting for major industry success

13-06-2018

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

Limited Haptic Capability

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 16 IROS 2015 – Hamburg King’s College London 16 Kclhammerlab.com 16

16 ~ 50 μm Hairs as mechanorece ptors: touch, vibration, motion Pores on the hair act a s chemoreceptor recei ves taste and smell

Nature

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 17 IROS 2015 – Hamburg King’s College London 17 Kclhammerlab.com 17

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. Lab Mission

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

Soft Medical Devices

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 19 IROS 2015 – Hamburg King’s College London 19 Kclhammerlab.com 19

Nature

  • Full body haptic sensing
  • Shape awareness
  • Distributed neural processing
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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 20 IROS 2015 – Hamburg King’s College London 20 Kclhammerlab.com 20

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

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Haptic Interaction with unknown contacts on the body

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

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Soft robot haptic interaction

  • Making use of the morphology

(physical properties-stiffness, shape of both robot and environment )

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 24 IROS 2015 – Hamburg King’s College London 24 Kclhammerlab.com 24

Soft Robotic Platform for Ultrasound Imaging

Soft end-effector Passive arm Hydraulic actuated soft actuators with intrinsic force sensing

intelligent Fetal Imaging and Diagnosis

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 25 IROS 2015 – Hamburg King’s College London 25 Kclhammerlab.com 25

Constrained motion

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

intelligent Fetal Imaging and Diagnosis

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 26 IROS 2015 – Hamburg King’s College London 26 Kclhammerlab.com 26

Intrinsic force sensing

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

intelligent Fetal Imaging and Diagnosis

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 27 IROS 2015 – Hamburg King’s College London 27 Kclhammerlab.com 27

Example: Head Circumference measurement Evaluation by Sonographer

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

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 29 IROS 2015 – Hamburg King’s College London 29 Kclhammerlab.com 29

The Challenge of Colonoscopy

Idealised procedure

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 30 IROS 2015 – Hamburg King’s College London 30 Kclhammerlab.com 30

Real State-of-the-Art Procedure

It is this deformation of the colon which induces pain for the patient. Before After

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Earthworm

Setae

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Earthworm

Setae Bioinspired soft worm robot Artificial setae Artificial setae

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

Morphology matters!

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 34 IROS 2015 – Hamburg King’s College London 34 Kclhammerlab.com 34

kclhammerlab.com

Locomotion with local morphology change

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

Morphology of environment

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Lessons learned

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Robotic Endovascular Interventions – Hamlyn Workshop 23 June 2015 37 IROS 2015 – Hamburg King’s College London 37 Kclhammerlab.com 37

Acknowledgments

HaMMeR Team

  • Junghwan Back
  • Julius Bernth
  • Yu Chen
  • Jian Hu
  • Lukas Lindenroth
  • George Abrahams
  • Teng Sun