{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,29]],"date-time":"2026-10-29T06:43:38Z","timestamp":1793256218139,"version":"4.5.0"},"reference-count":23,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2021,11,18]],"date-time":"2021-11-18T00:00:00Z","timestamp":1637193600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2022,10,1]]},"abstract":"<jats:p>\n                    Soft robots can provide advantages for medical interventions given their low cost and their ability to change shape and safely apply forces to tissue. This article explores the potential for their use for endoscopically-guided balloon dilation procedures in the airways. A scalable robot design based on balloon catheter technology is proposed, which is composed of five balloons together with a tip-mounted camera and LED. Its design parameters are optimized with respect to the clinical requirements associated with balloon dilation procedures in the trachea and bronchi. Possessing a lumen to allow for respiration and powered by the pressure and vacuum sources found in a clinical procedure room, the robot is teleoperated through the airways using a game controller and real-time video from the tip-mounted camera. The robot design includes proximal and distal bracing balloons that expand radially to produce traction forces. The distal bracing balloon is also used to perform balloon dilation. Three actuation balloons, located between the bracing balloons, produce elongation and bending of the robot body to enable locomotion and turning. An analysis of the actuation balloons, which incorporate helical coils to prevent radial collapse, provides design formulas by relating geometric parameters to such performance criteria as maximum change in actuator length and maximum robot bending angle. Experimental evaluation of a prototype robot inside rigid plastic tubes and\n                    <jats:italic toggle=\"yes\">ex vivo<\/jats:italic>\n                    porcine airways is used to demonstrate the potential of the approach.\n                  <\/jats:p>","DOI":"10.1089\/soro.2020.0161","type":"journal-article","created":{"date-parts":[[2021,11,23]],"date-time":"2021-11-23T16:49:07Z","timestamp":1637686147000},"page":"1014-1029","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":32,"title":["A Soft Robotic Balloon Endoscope for Airway Procedures"],"prefix":"10.1177","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7357-6535","authenticated-orcid":false,"given":"Yingtian","family":"Li","sequence":"first","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Harvard University, Boston, Massachusetts, USA."},{"name":"Currently with Institute of Biomedical &amp; Health Engineering, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Joseph","family":"Peine","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Harvard University, Boston, Massachusetts, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4697-8923","authenticated-orcid":false,"given":"Margherita","family":"Mencattelli","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Harvard University, Boston, Massachusetts, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiaole","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Harvard University, Boston, Massachusetts, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junhyoung","family":"Ha","sequence":"additional","affiliation":[{"name":"Center for Medical Robotics, Robotics and Media Institute, Korea Institute of Science and Technology, Seoul, Korea."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7294-640X","authenticated-orcid":false,"given":"Pierre E.","family":"Dupont","sequence":"additional","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Harvard University, Boston, Massachusetts, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2021,11,18]]},"reference":[{"key":"e_1_3_5_2_2","doi-asserted-by":"publisher","DOI":"10.1053\/hn.2003.v128.amhn0312811"},{"key":"e_1_3_5_3_2","first-page":"285","article-title":"Use of balloon catheter dilation vs. traditional endoscopic sinus surgery in management of light and severe chronic rhinosinusitis of the frontal sinus: a multicenter prospective randomized study","volume":"22","author":"Minni A","year":"2018","unstructured":"Minni A, , Dragonetti A, , Sciuto A, et al. Use of balloon catheter dilation vs. traditional endoscopic sinus surgery in management of light and severe chronic rhinosinusitis of the frontal sinus: a multicenter prospective randomized study. Eur Rev Med Pharmacol Sci, 2018; 22:285\u2013293.","journal-title":"Eur Rev Med Pharmacol Sci"},{"key":"e_1_3_5_4_2","first-page":"71","article-title":"Vanishing bronchus after lung transplantation: the role of sequential airway dilatations","volume":"17","author":"Alraiyes AH","year":"2017","unstructured":"Alraiyes AH, , Inaty H, , Machuzak MS. Vanishing bronchus after lung transplantation: the role of sequential airway dilatations. Ochsner J, 2017; 17:71\u201375.","journal-title":"Ochsner J"},{"key":"e_1_3_5_5_2","doi-asserted-by":"publisher","DOI":"10.1093\/dote\/doy068"},{"key":"e_1_3_5_6_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0123177"},{"key":"e_1_3_5_7_2","doi-asserted-by":"publisher","DOI":"10.1111\/j.1365-2044.2012.07250.x"},{"key":"e_1_3_5_8_2","doi-asserted-by":"publisher","DOI":"10.1364\/BOE.6.001146"},{"key":"e_1_3_5_9_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0022215117000081"},{"key":"e_1_3_5_10_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12213-016-0087-x"},{"key":"e_1_3_5_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/039139880903200806"},{"key":"e_1_3_5_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2678540"},{"key":"e_1_3_5_13_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0001"},{"key":"e_1_3_5_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2770140"},{"key":"e_1_3_5_15_2","first-page":"3263","volume-title":"In: 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9\u201313","author":"Ozaki K","year":"2011","unstructured":"Ozaki K, , Wakimoto S, , Suzumori K, et al. Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9\u201313. Piscataway, NJ: IEEE, 2011, pp. 3263\u20133268."},{"key":"e_1_3_5_16_2","first-page":"467","volume-title":"In: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), Karon Beach, Phuket, Thailand, December 7\u201311","author":"Adachi K","year":"2011","unstructured":"Adachi K, , Yokojima M, , Hidaka Y, et al. Development of endoscopic robot and experiment in the large intestine of dead swine. In: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), Karon Beach, Phuket, Thailand, December 7\u201311. 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