Abstract
Robotic assistance in minimally invasive surgery (MIS) has extended the capabilities of surgeons via improved precision, dexterity, and computer assistance. To further develop the capabilities of MIS, this chapter presents a new variable stiffness mechanism that utilizes auxetic materials. We present our preliminary design conceptualization and prototype development using a combination of 3D-printed auxetic structures as well as origami and kirigami structures. First, we explore the mechanism of jamming using auxetic materials and test its feasibility and reliability with respect to the application of variable stiffness. Three-point bending tests show that there is poor consistency between the control case and the test case with jamming in terms of change in stiffness. Then, we explore a second method involving kirigami and origami designs using mechanical metamaterial structures. By investigating different auxetic cell designs and origami/kirigami folding and cutting patterns, this study shows that it is possible to create a combined actuation and tunable stiffness mechanism using simple and cost-effective auxetic structures that can also be highly miniaturized.
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