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Multiple Module Manipulator with Control Strategy for Minimally Invasive Surgery

This paper introduces the concept of a soft modular manipulator for Minimally Invasive Surgery (MIS). The manipulator is entirely composed of sentimental materials, and it's been designed to supply similar motion capabilities because the octopus's arm so as to succeed in the surgical target while exploiting its whole length to actively interact with the biological structure. The manipulator consists of multiple identical modules, connected serial (each of them are often controlled independently) with flexible fluidic actuator to get multi directional bending and stiffening capabilities supported granular jamming with various controller developed for soft robot as a suggestion for future application in soft robotics. The mixture of application of the manipulator and control strategy of controllers appropriate for his or her particular design.