Fiberbots: Robotic fibers for high-precision minimally invasive surgery
Küçük Resim Yok
Tarih
2024
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
American Association for the Advancement of Science
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
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. © 2024 the Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. no claim to original U.S. Government Works. distributed under a creative commons Attribution license 4.0 (cc BY).
Açıklama
Anahtar Kelimeler
Laparoscopy, Robotic Surgery, Surgical Equipment, Tissue, Transplantation (Surgical), Flexible Robotics, High-Precision, Minimally İnvasive Surgical Procedures, Minimally-İnvasive Surgery, Polymer Based, Precise Manipulation, Robotic Probes, Surgical İnstrument, Surgical Tools, Thermal Actuation, Fibers, Animal, Laparoscopy, Minimally İnvasive Surgery, Pig, Procedures, Robot Assisted Surgery, Robotics, Animals, Laparoscopy, Minimally Invasive Surgical Procedures, Robotic Surgical Procedures, Robotics, Swine
Kaynak
Science Advances
WoS Q Değeri
Scopus Q Değeri
Q1
Cilt
10
Sayı
3
