The goal of this research is to develop a dexterous, small-size, cannulas type robot for Minimal Invasive Surgery (MIS) and bio-sensor delivery applications based on coaxially assembled elastic tubular structures. The movement and control of the cannulas is based on the storage and release of elastic energy via translational and rotational motions induced by the user either locally or remotely via tele-operation systems. The research will provide better understanding and characterization of how actuation can be encoded in flexible structures and how it can be controlled. It mimics various natural creatures such as snakes, octopus tentacles, elephant trunks, etc., hence it can be considered as a biologically-inspired device. Issues such as miniaturization, complex tissue-device interfacing, and tele-operation add onto the scientific challenges of the project. This activity integrates research activities with educational opportunities for undergraduate and high school students in a coherent fashion. At the same time, it seeks to develop an improved technology for minimally invasive surgery which could benefit many people through improved quality of health care.
