Download PDFOpen PDF in browserA Pop-Up Soft Robot Driven by Hydraulic Folded Actuators for Minimally Invasive SurgeryEasyChair Preprint 129222 pages•Date: April 5, 2024AbstractThis article presents an inflatable robot which is largely made of flexible plastic film. In the deflated state, it is easy to collapse, fold and roll into a small size, promising easier delivery by a carrier endoscope to the proximal colon. After reaching the target site, the robot is inflated and the surgery is performed.The robot is driven by a novel actuator, which uses a folded chamber to pull the cable to produce a large displacement without the need of displacement amplification mechanisms. Keyphrases: actuator, soft robot, surgical robot
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