Abdelaziz, M.E.M.K.Zhao, J.Rosa, B.G.Lee, H.-T.Simon, D.Vyas, K.Li B.2024-05-192024-05-1920242375-2548https://doi.org/10.1126/sciadv.adj1984https://hdl.handle.net/20.500.12713/4535Precise 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).eninfo:eu-repo/semantics/openAccessLaparoscopyRobotic SurgerySurgical EquipmentTissueTransplantation (Surgical)Flexible RoboticsHigh-PrecisionMinimally İnvasive Surgical ProceduresMinimally-İnvasive SurgeryPolymer BasedPrecise ManipulationRobotic ProbesSurgical İnstrumentSurgical ToolsThermal ActuationFibersAnimalLaparoscopyMinimally İnvasive SurgeryPigProceduresRobot Assisted SurgeryRoboticsAnimalsLaparoscopyMinimally Invasive Surgical ProceduresRobotic Surgical ProceduresRoboticsSwineArticle103382413802-s2.0-8518280764310.1126/sciadv.adj1984Q1