الفهرس 
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Abstract
Soft robotic has several benefits over standard rigid robotics in situations requiring safety and dexterity, especially in Minimally Invasive Surgery (MIS). The STIFF-FLOP manipulation has previously been proposed as a new approach for developing endoscopic instruments with great dexterity and inherent safety utilising soft substances. However, because of its higher actuating pressure, low stiffness, the capacity to create larger forces and stabilisation when needed has to be researched further. presently no perfect solution in current technology that meets all of the necessary demands in terms of miniaturized dimensions, free lumen for transferring tools up to their tip, stiffness variation, and dexterity.
This research proposes a novel softpneumaticactuator (SPA) with Parallel Rings Design (PRD) that can bend at minimal pressure while enhancing actuator stiffness in order to develop softpneumatic endoscope to be used in minimally invasive surgery. The suggested approach is simulated by Finite Element (FE) modeling using ANSYS software then the resilience of the structure is studied utilizing the Design Of Experiment (DOE) full factorial method. The delicate variables are further optimized with a gradient-based optimization approach. After that the sensitivity analysis with regard to PRD dimensions is studied.
The bending degree of the actuator model is subsequently controlled utilizing a Proportional-Integral-Derivative (PID) controller using MATLAB/Simulink and ANSYS software. MATLAB gets the bend angle via the FE model then tunes the PID parameters appropriately before calculating the needed pressure. This pressure is sent back to ANSYS, and then the closed loop response of the system is obtained by running the FE model.
After that a PRD actuator module is manufactured, and the test rig is set up to evaluate the FE model’s performance. Image processing algorithms are usedto identify bending and displacement for the tip of the PRD module in the test rig.
At low pressure, the results demonstrate that the new PRD actuator can be used as endoscope in minimally invasive surgery because the PRD actuator has a greater bending degree than other outer sheath endoscopes the safety margin is 50% higher than the operating pressure.Furthermore the stiffness of the actuator is enhanced by the PRD of the actuator.
Key words: soft robotic; endoscope; surgical robots; multiple stiffness endoscopes; finite element modeling; control simulation loop; design of experiment