Development of a Multi-Joint Manipulator for Laparoscopic-Assisted Surgery using Magneto-Rheological Elastomer

Abstract

Because of its less invasiveness and faster expectation of postoperative recovery, laparoscopic surgery is replacing the traditional open surgery. Also, the benefits of shorter hospitalization, less pain, and better cosmetic results support the increasing use of the laparoscopic surgery. However, the current surgical instruments may cause internal interference with other instruments during the operation and blind spot may occur due to its mechanical structure. To solve these clinical problems, we have been developing a multi-joint manipulator using smart materials called magneto-rheological elastomers (MRE) for the use of laparoscopic-assisted surgery. It consists of a MRE joints, electric coil for generating the magnetic field, housing, flexible tube, and wire. MRE has been known for its unique physical characteristics, i.e., variable stiffness controlled by the applied magnetic field. The previously reported studies were mainly about properties of shearing direction. In our manipulator, however, compressive load will be applied to MRE. In this study, therefore, we investigate the compressive stiffness properties of MRE changing the strength of the magnetic field applied.