Fiberbots: Robotic fibers for high-precision minimally invasive surgery.

Autor: Abdelaziz MEMK; The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.; Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK., Zhao J; The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.; Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK., Gil Rosa B; The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.; Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK., Lee HT; Department of Mechanical Engineering, Inha University, Incheon 22212, South Korea., Simon D; Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.; The Rosalind Franklin Institute, Didcot OX11 0QS, UK., Vyas K; The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.; Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK., Li B; The UK DRI Care Research and Technology Centre, Department of Brain Science, Imperial College London, London W12 0MN, UK.; Institute for Materials Discovery, University College London, London WC1H 0AJ, UK., Koguna H; Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK., Li Y; The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK., Demircali AA; Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK., Uvet H; Department of Mechatronics Engineering, Faculty of Engineering, Yildiz Technical University, Istanbul 34349, Turkey., Gencoglan G; Department of Dermatology and Venereology, Liv Hospital Vadistanbul, Istanbul 34396, Turkey.; Department of Skin and Venereal Diseases, Faculty of Medicine, Istinye University, Istanbul 34010, Turkey., Akcay A; Department of Pathology, Faculty of Medicine, Yeni Yüzyıl University, Istanbul 34010, TR.; Pathology Laboratory, Atakent Hospital, Acibadem Mehmet Ali Aydinlar University, Istanbul 34303, TR., Elriedy M; Anesthesiology, University Hospitals of Derby and Burton, Derby, DE22 3NE, UK., Kinross J; Department of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK., Dasgupta R; Department of Urology, Imperial College Healthcare NHS Trust, Charing Cross Hospital, London W6 8RF, UK., Takats Z; Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.; The Rosalind Franklin Institute, Didcot OX11 0QS, UK., Yeatman E; Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK., Yang GZ; Institute of Medical Robots, Shanghai Jiao Tong University, Shanghai 200240, China., Temelkuran B; The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.; Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.; The Rosalind Franklin Institute, Didcot OX11 0QS, UK.
Jazyk: angličtina
Zdroj: Science advances [Sci Adv] 2024 Jan 19; Vol. 10 (3), pp. eadj1984. Date of Electronic Publication: 2024 Jan 19.
DOI: 10.1126/sciadv.adj1984
Abstrakt: Precise manipulation of flexible surgical tools is crucial in minimally invasive surgical procedures, necessitating a miniature and flexible robotic probe that can precisely direct the surgical instruments. In this work, we developed a polymer-based robotic fiber with a thermal actuation mechanism by local heating along the sides of a single fiber. The fiber robot was fabricated by highly scalable fiber drawing technology using common low-cost materials. This low-profile (below 2 millimeters in diameter) robotic fiber exhibits remarkable motion precision (below 50 micrometers) and repeatability. We developed control algorithms coupling the robot with endoscopic instruments, demonstrating high-resolution in situ molecular and morphological tissue mapping. We assess its practicality and safety during in vivo laparoscopic surgery on a porcine model. High-precision motion of the fiber robot delivered endoscopically facilitates the effective use of cellular-level intraoperative tissue identification and ablation technologies, potentially enabling precise removal of cancer in challenging surgical sites.
Databáze: MEDLINE