Soft conformal laparoscopic instrument

Abstract

A soft robotic instrument that is capable of changing its form factor (e.g., expanding and contracting) during use to facilitate minimally invasive surgery. The instrument may be formed wholly or partly of an elastomeric, electrically insulating material for mitigating the risk of injuring tissue and for mitigating the risk of electrical arcing during electrosurgery.

1 . A medical device, comprising:
 an actuator, comprising an elastomeric material and a plurality of interconnected fluid compartments, wherein the actuator is moveable between a first configuration characterized by a first internal pressure within the plurality of fluid compartments and a second configuration characterized by a second internal pressure within the plurality of fluid compartments, the second internal pressure being different than the first internal pressure; and   a fluid conduit sized and shaped to couple to a fluid source, the fluid conduit in fluid communication with at least one of the fluid compartments and adapted to transmit fluid pressure between the fluid source and the at least one fluid compartment.