Submillimeter fiber robots capable of decoupled macro-micro motion for endoluminal manipulation.

Autor: Zhou C; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Xu Z; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Lin Z; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Qin X; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Xia J; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Ai X; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Lou C; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China., Huang Z; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Huang S; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China., Liu H; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Zou Y; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China., Chen W; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China., Yang GZ; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China., Gao A; Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China.; Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China.
Jazyk: angličtina
Zdroj: Science advances [Sci Adv] 2024 Nov 22; Vol. 10 (47), pp. eadr6428. Date of Electronic Publication: 2024 Nov 22.
DOI: 10.1126/sciadv.adr6428
Abstrakt: Endoluminal and endocavitary intervention via natural orifices of the body is an emerging trend in medicine, further underpinning the future of early intervention and precision surgery. This motivates the development of small continuum robots to navigate freely in confined and tortuous environment. The trade-off between a large range of motion and high precision with concomitant actuation cross-talk poses a major challenge. Here, we present a submillimeter-scale fiber robot (~1 mm) capable of decoupled macro and micro manipulations for intervention and operation. The thin optical fibers, working both as mechanical tendons and light waveguides, can be pulled/pushed to actuate the macro tendon-driven continuum robot and transmit light to actuate the liquid crystal elastomer-based micro built-in light-driven parallel robot. The combination of the decoupled macro and micro motions can accomplish accurate cross-scale motion from several millimeters down to tens of micrometers. In vivo animal studies are performed to demonstrate its positioning accuracy of precise micro operations in endoluminal or endocavitary intervention.
Databáze: MEDLINE
Externí odkaz: