A Soft Robotic System for Mechanical Assistance to the Diaphragm

Abstract

The diaphragm is a critical muscle for the respiratory system, responsible for up to 70% of the inspiration effort. Phrenic nerve trauma or neuromuscular disease can generate severe diaphragm dysfunction that ultimately leads to respiratory failure. The current treatment for patients with severe diaphragm dysfunction is permanent airway tethering to mechanical ventilation, which greatly impacts patient’s quality of life and autonomy by hindering activities like speech, swallowing, and mobility. Soft robots are ideal to assist in complex biological functions like the contraction of the diaphragm. Diaphragmatic mechanical assistance using implantable soft robots has shown promising results in restoring respiratory function. However, the the soft robotic system can be optimized to effectively assist the diaphragm. In this work, the design and control of a fabric-shelled soft robotic pneumatic actuator are developed to efficiently assist on the diaphragm motion and in the inspiratory effort. The soft robotic system, developed in this work, is capable of significantly restore physiological thoracic and abdominal pressurization levels in a respiratory simulator and demonstrates its potential as an alternative treatment for patients with severe diaphragm dysfunction.