DataSheet1_Effects of chamber shapes on maneuverability and control property of endoscope-support soft actuators.docx

Introduction: Minimally Invasive Surgery (MIS) offers targeted surgical access with reduced invasiveness; however, the maneuverability challenges of traditional instruments in this domain underscore the need for innovative solutions. Soft actuators activated by fluids or gases present a promising strategy for augmenting endoscopic capabilities, thereby enhancing the surgical precision in MIS. This study aimed to explore the intricate dynamics of the interactions between soft actuators and endoscopes, with an emphasis on the pivotal role of cross-sectional chamber shapes. While previous studies have touched on the influence of chamber shapes on bending properties, we provide a comprehensive exploration. We explore how these shapes modulate friction forces, which in turn influence the interactions governing bending, response, and stiffness adjustability, all of which are essential for enhancing endoscope maneuverability in MIS contexts.
Methods: A novel bilateral symmetrical air chamber design was adopted to investigate various chamber shapes. We employed finite element analysis (FEA) simulations followed by prototype testing to evaluate the interactions driven by these chamber shapes and to discern their impact on actuator properties. Recognizing the pivotal role of friction in these interactions, we conducted dedicated friction experiments. These experiments further deepened our understanding of the relationship between chamber shape and friction, and how this synergy influences the properties of the actuator.
Results: Our findings showed that actuators with wider chambers generate larger friction forces, thereby enhancing the interaction and improving the bending, response, and stiffness adjustability. Additionally, the soft actuator significantly improved the maneuverability and bending radius of the endoscope, demonstrating enhanced navigation capabilities in complex environments.
Discussion: The shape of a cross-sectional chamber plays a pivotal role in designing soft actuators for MIS applications. Our research emphasizes the importance of this design component, offering key insights for the development of endoscope-supporting soft actuators that can effectively handle intricate actuator-endoscope interactions, thereby enhancing surgical outcomes.

Introduction: 微创外科（Minimally Invasive Surgery, MIS）以靶向手术入路实现更低侵入性，但传统器械在该领域的操作灵活性难题凸显了创新解决方案的迫切需求。以流体或气体驱动的软体驱动器（soft actuators）是增强内镜操作能力、提升微创外科手术精度的极具前景的方案。本研究旨在探究软体驱动器与内窥镜间相互作用的复杂动力学机制，并重点聚焦截面腔室形状的关键作用。尽管已有研究涉及腔室形状对弯曲特性的影响，但本研究将展开全面系统的探究。本研究揭示了腔室形状如何调控摩擦力，进而影响支配弯曲特性、响应性能与刚度可调性的相互作用机制——上述性能均为提升微创外科场景下内窥镜操作灵活性的核心要素。
Methods: 本研究采用新型双侧对称气室设计，以探究不同腔室形状的影响。研究采用有限元分析（Finite Element Analysis, FEA）模拟结合原型实验的方案，评估腔室形状驱动的相互作用，并明确其对驱动器性能的影响。鉴于摩擦力在上述相互作用中的关键作用，本研究开展了针对性的摩擦力实验。该类实验进一步深化了我们对腔室形状与摩擦力间关联，以及该协同效应如何影响驱动器性能的认知。
Results: 研究结果表明，腔室更宽的驱动器可产生更大的摩擦力，从而强化相互作用，优化弯曲特性、响应性能与刚度可调性。此外，软体驱动器可显著提升内窥镜的操作灵活性与弯曲半径，展现出复杂环境下更强的导航能力。
Discussion: 截面腔室形状在面向微创外科应用的软体驱动器设计中具有关键作用。本研究强调了该设计要素的重要性，为适配内窥镜的软体驱动器开发提供了关键见解——此类驱动器可有效应对复杂的驱动器-内窥镜相互作用，进而改善手术效果。