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      Fiberbots: Robotic fibers for high-precision minimally invasive surgery

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          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.

          Abstract

          Heat-controlled fiber robots could potentially improve the precision of minimally invasive cancer surgery.

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          Most cited references78

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          Untethered soft robotics

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            Ferromagnetic soft continuum robots

            Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot’s body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot’s body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.
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              The grand challenges of Science Robotics

              One of the ambitions of Science Robotics is to deeply root robotics research in science while developing novel robotic platforms that will enable new scientific discoveries. Of our 10 grand challenges, the first 7 represent underpinning technologies that have a wider impact on all application areas of robotics. For the next two challenges, we have included social robotics and medical robotics as application-specific areas of development to highlight the substantial societal and health impacts that they will bring. Finally, the last challenge is related to responsible innovation and how ethics and security should be carefully considered as we develop the technology further.
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                Author and article information

                Contributors
                Role: ConceptualizationRole: Data curationRole: Formal analysisRole: InvestigationRole: MethodologyRole: ResourcesRole: SoftwareRole: SupervisionRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: ConceptualizationRole: Data curationRole: Formal analysisRole: InvestigationRole: MethodologyRole: Project administrationRole: SoftwareRole: SupervisionRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: ConceptualizationRole: Data curationRole: Formal analysisRole: InvestigationRole: MethodologyRole: Project administrationRole: ResourcesRole: SoftwareRole: SupervisionRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: InvestigationRole: Writing - review & editing
                Role: ConceptualizationRole: Formal analysisRole: InvestigationRole: MethodologyRole: SoftwareRole: VisualizationRole: Writing - review & editing
                Role: InvestigationRole: MethodologyRole: ResourcesRole: ValidationRole: Writing - review & editing
                Role: InvestigationRole: MethodologyRole: Writing - original draftRole: Writing - review & editing
                Role: ConceptualizationRole: InvestigationRole: MethodologyRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: Investigation
                Role: Formal analysisRole: InvestigationRole: MethodologyRole: ResourcesRole: SoftwareRole: Visualization
                Role: ConceptualizationRole: MethodologyRole: ResourcesRole: Writing - review & editing
                Role: ConceptualizationRole: Data curationRole: Formal analysisRole: Funding acquisitionRole: InvestigationRole: MethodologyRole: Project administrationRole: ResourcesRole: SoftwareRole: SupervisionRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: InvestigationRole: MethodologyRole: ResourcesRole: Validation
                Role: Methodology
                Role: ConceptualizationRole: Data curationRole: InvestigationRole: MethodologyRole: SupervisionRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: ConceptualizationRole: InvestigationRole: MethodologyRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Role: ConceptualizationRole: Funding acquisitionRole: Project administrationRole: ResourcesRole: SupervisionRole: Writing - review & editing
                Role: ConceptualizationRole: Funding acquisitionRole: MethodologyRole: Project administrationRole: SupervisionRole: Writing - review & editing
                Role: ConceptualizationRole: MethodologyRole: Writing - review & editing
                Role: ConceptualizationRole: Data curationRole: Formal analysisRole: Funding acquisitionRole: InvestigationRole: MethodologyRole: Project administrationRole: ResourcesRole: SupervisionRole: ValidationRole: VisualizationRole: Writing - original draftRole: Writing - review & editing
                Journal
                Sci Adv
                Sci Adv
                sciadv
                advances
                Science Advances
                American Association for the Advancement of Science
                2375-2548
                19 January 2024
                19 January 2024
                : 10
                : 3
                : eadj1984
                Affiliations
                [ 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.
                Author notes
                [* ]Corresponding author. Email: b.temelkuran@ 123456imperial.ac.uk
                [†]

                These authors contributed equally to this work.

                Author information
                https://orcid.org/0000-0003-2763-8998
                https://orcid.org/0000-0002-6827-4740
                https://orcid.org/0000-0001-8054-059X
                https://orcid.org/0000-0002-6706-0740
                https://orcid.org/0000-0001-5056-913X
                https://orcid.org/0000-0003-1683-6630
                https://orcid.org/0000-0002-1737-3423
                https://orcid.org/0009-0007-3817-2114
                https://orcid.org/0000-0002-3545-3654
                https://orcid.org/0000-0003-0392-982X
                https://orcid.org/0000-0001-8343-1153
                https://orcid.org/0009-0007-8700-634X
                https://orcid.org/0000-0002-0427-7643
                https://orcid.org/0000-0002-0795-3467
                https://orcid.org/0000-0003-0487-2693
                https://orcid.org/0000-0003-4060-4020
                https://orcid.org/0000-0003-2390-5091
                Article
                adj1984
                10.1126/sciadv.adj1984
                10798568
                38241380
                c5aa9569-c9dc-4088-8d72-ec5787affb8c
                Copyright © 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).

                This is an open-access article distributed under the terms of the Creative Commons Attribution license, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

                History
                : 12 June 2023
                : 20 December 2023
                Funding
                Funded by: FundRef http://dx.doi.org/10.13039/501100000266, Engineering and Physical Sciences Research Council;
                Award ID: EP/P012779
                Funded by: FundRef http://dx.doi.org/10.13039/501100000266, Engineering and Physical Sciences Research Council;
                Award ID: EP/P012779
                Funded by: CRUK Convergence Science Centre at The Institute of Cancer Research;
                Award ID: A26234
                Funded by: CRUK Convergence Science Centre at The Institute of Cancer Research;
                Award ID: A26234
                Funded by: National Institute for Health Research (NIHR) Imperial Biomedical Research Centre (BRC);
                Funded by: CRUK Grand Challenge Rosetta;
                Award ID: C59824/A25044
                Funded by: EPSRC Transformative Healthcare Technologies;
                Award ID: EP/W004798/1
                Funded by: EPSRC Transformative Healthcare Technologies;
                Award ID: EP/W004798/1
                Categories
                Research Article
                Physical and Materials Sciences
                SciAdv r-articles
                Materials Science
                Applied Sciences and Engineering
                Applied Sciences and Engineering
                Custom metadata
                Eunice Diego

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