Soft expanding anchor mechanism for minimally invasive, beating heart surgery
Embargo Date
2022-05-15
OA Version
Citation
Abstract
This paper describes the design and development of a soft anchoring mechanism to be used in minimally invasive beating heart surgery. With the combination of layer jamming and soft actuation, this device is designed with the intent of providing a stable anchor point within the walls of the superior vena cava (SVC). Once deployed, additional soft manipulators can be used in tandem with this device to perform surgical procedures from within the heart, all without constricting blood flow or damaging the walls of the SVC. The anchor mechanism expands radially towards the inner wall of the SVC using four expanding pouches. A secondary mechanism, which utilizes a concept called layer jamming, is used to ensure that the anchor does not expand inwards, towards the center of the device, thereby preventing any additional blocking of blood flow. This paper will focus on the fabrication and design choices of the anchoring mechanism and present strategies on deployment and integration with other surgical manipulators.
Description
License
Attribution 4.0 International