Fiberbots: Robotic fibers for high-precision minimally invasive surgery-Reference-Cited by-同舟云学术

Fiberbots: Robotic fibers for high-precision minimally invasive surgery

Published:2024-01-19 Issue:3 Volume:10 Page:
ISSN:2375-2548
Container-title:Science Advances
language:en
Short-container-title:Sci. Adv.

Author:

Abdelaziz Mohamed E. M. K.¹²^ORCID,Zhao Jinshi¹³^ORCID,Gil Rosa Bruno¹²^ORCID,Lee Hyun-Taek⁴^ORCID,Simon Daniel³⁵^ORCID,Vyas Khushi¹²^ORCID,Li Bing⁶⁷^ORCID,Koguna Hanifa³,Li Yue¹^ORCID,Demircali Ali Anil³^ORCID,Uvet Huseyin⁸^ORCID,Gencoglan Gulsum⁹¹⁰,Akcay Arzu¹¹¹²^ORCID,Elriedy Mohamed¹³^ORCID,Kinross James¹⁴^ORCID,Dasgupta Ranan¹⁵,Takats Zoltan³⁵^ORCID,Yeatman Eric²^ORCID,Yang Guang-Zhong¹⁶^ORCID,Temelkuran Burak¹³⁵^ORCID

Affiliation:

1. The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK.

2. Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK.

3. Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.

4. Department of Mechanical Engineering, Inha University, Incheon 22212, South Korea.

5. The Rosalind Franklin Institute, Didcot OX11 0QS, UK.

6. The UK DRI Care Research and Technology Centre, Department of Brain Science, Imperial College London, London W12 0MN, UK.

7. Institute for Materials Discovery, University College London, London WC1H 0AJ, UK.

8. Department of Mechatronics Engineering, Faculty of Engineering, Yildiz Technical University, Istanbul 34349, Turkey.

9. Department of Dermatology and Venereology, Liv Hospital Vadistanbul, Istanbul 34396, Turkey.

10. Department of Skin and Venereal Diseases, Faculty of Medicine, Istinye University, Istanbul 34010, Turkey.

11. Department of Pathology, Faculty of Medicine, Yeni Yüzyıl University, Istanbul 34010, TR.

12. Pathology Laboratory, Atakent Hospital, Acibadem Mehmet Ali Aydinlar University, Istanbul 34303, TR.

13. Anesthesiology, University Hospitals of Derby and Burton, Derby, DE22 3NE, UK.

14. Department of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK.

15. Department of Urology, Imperial College Healthcare NHS Trust, Charing Cross Hospital, London W6 8RF, UK.

16. Institute of Medical Robots, Shanghai Jiao Tong University, Shanghai 200240, China.

Abstract

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.

Publisher

American Association for the Advancement of Science (AAAS)

Subject

Multidisciplinary

Link

https://www.science.org/doi/pdf/10.1126/sciadv.adj1984

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