Thermally drawn steerable soft robotic fiber for multi-purpose minimally invasive surgery
Author(s)
Tian, Lily
Zhao, Jinshi
Yang, Ziqi
Chalau, Vadzim
Temelkuran, Burak
Type
Journal Article
Abstract
Soft robotic instruments offer unique advantages for minimally invasive surgery (MIS), including safe tissue interaction and adaptability within confined anatomical spaces. However, achieving both miniaturization and functionality within a single device remains a significant engineering challenge. This work presents a monolithically fabricated, tendon-driven fiber robot produced via thermal drawing, integrating rigid polycarbonate (PC) and compliant Styrene-Ethylene-Butylene-Styren (SEBS) elastomer into a continuous, multi-lumen structure. The resulting platform enables remote steering of the fiber tip while supporting channels for additional diagnostic or therapeutic functions. Three purpose-specific fiber variants were developed and evaluated in anatomical phantoms: transvaginal tumor ablation requiring high-precision motion control, gastrointestinal optical diagnosis with spectroscopic sensing, and endovascular navigation with targeted liquid delivery. These demonstrations validate the robot's precision, adaptability, and clinical relevance across multiple MIS scenarios. The proposed thermally drawn fiber offers a scalable approach for rapid prototyping and development of compact, multi-purpose medical devices.
Date Issued
2025-12-01
Date Acceptance
2025-09-24
Citation
IEEE Robotics and Automation Letters, 2025, 10 (12), pp.12389-12396
ISSN
2377-3766
Publisher
Institute of Electrical and Electronics Engineers
Start Page
12389
End Page
12396
Journal / Book Title
IEEE Robotics and Automation Letters
Volume
10
Issue
12
Copyright Statement
© 2025 IEEE. This is the author’s accepted manuscript made available under a CC-BY licence in accordance with Imperial’s Research Publications Open Access policy (www.imperial.ac.uk/oa-policy)
License URL
Publication Status
Published
Date Publish Online
2025-10-09