Abdelaziz, Mohamed EMK;
Zhao, Jinshi;
Gil Rosa, Bruno;
Lee, Hyun-Taek;
Simon, Daniel;
Vyas, Khushi;
Li, Bing;
... Temelkuran, Burak; + view all
(2024)
Fiberbots: Robotic fibers for high-precision minimally invasive surgery.
Science Advances
, 10
(3)
, Article eadj1984. 10.1126/sciadv.adj1984.
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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.
| Type: | Article |
|---|---|
| Title: | Fiberbots: Robotic fibers for high-precision minimally invasive surgery |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1126/sciadv.adj1984 |
| Publisher version: | http://dx.doi.org/10.1126/sciadv.adj1984 |
| Language: | English |
| Additional information: | 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). https://creativecommons.org/licenses/by/4.0/ 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. |
| URI: | https://discovery-pp.ucl.ac.uk/id/eprint/10185950 |
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