nach oben

International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

24.07.2023 | Original Article

Toward a novel soft robotic system for minimally invasive interventions

verfasst von: Noah Barnes, Olivia Young, Adira Colton, Xiaolong Liu, Miroslaw Janowski, Dheeraj Gandhi, Ryan Sochol, Jeremy Brown, Axel Krieger

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 9/2023

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

Purpose

During minimally invasive surgery, surgeons maneuver tools through complex anatomies, which is difficult without the ability to control the position of the tools inside the body. A potential solution for a substantial portion of these procedures is the efficient design and control of a pneumatically actuated soft robot system.

Methods

We designed and evaluated a system to control a steerable catheter tip. A macroscale 3D printed catheter tip was designed to have two separately pressurized channels to induce bending in two directions. A motorized hand controller was developed to allow users to control the bending angle while manually inserting the steerable tip. Preliminary characterization of two catheter tip prototypes was performed and used to map desired angle inputs into pressure commands.

Results

The integrated robotic system allowed both a novice and a skilled surgeon to position the steerable catheter tip at the location of cylindrical targets with sub-millimeter accuracy. The novice was able to reach each target within ten seconds and the skilled surgeon within five seconds on average.

Conclusion

This soft robotic system enables its user to simultaneously insert and bend the pneumatically actuated catheter tip with high accuracy and in a short amount of time. These results show promise concerning the development of a soft robotic system that can improve outcomes in minimally invasive interventions.

Vorheriger Artikel AI based IT system design and applications for a wisdom-oriented health care system

Nächster Artikel A robotic system for solo surgery in flexible ureteroscopy: development and evaluation with clinical users

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 340 Zeitschriften

aus folgenden Fachgebieten:

Bauwesen + Immobilien
Business IT + Informatik
Finance + Banking
Management + Führung
Marketing + Vertrieb
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Hu X, Chen A, Luo Y, Zhang C, Zhang E (2018) Steerable catheters for minimally invasive surgery: a review and future directions. Comput Assist Surg 23(1):21–41. https://doi.org/10.1080/24699322.2018.1526972. (PMID: 30497292)CrossRef

Ali A, Sakes A, Arkenbout EA, Henselmans P, van Starkenburg R, Szili-Torok T, Breedveld P (2019) Catheter steering in interventional cardiology: mechanical analysis and novel solution. Proc Inst Mech Eng [H] 233(12):1207–1218. https://doi.org/10.1177/0954411919877709. (PMID: 31580205)CrossRef

Swaney PJ, Mahoney AW, Hartley BI, Remirez AA, Lamers E, Feins RH, Alterovitz R, Robert J, Webster I (2017) Toward transoral peripheral lung access: combining continuum robots and steerable needles. J Med Robot Res. https://doi.org/10.1142/S2424905X17500015CrossRefPubMed

Killer-Oberpfalzer M, Chapot R, Orion D, Barr JD, Cabiri O, Berenstein A (2022) Clinical experience with the bendit steerable microcatheter: a new paradigm for endovascular treatment. J NeuroInterventional Surg. https://doi.org/10.1136/jnis-2022-019096CrossRef

Øygard Skodvin T, Johnsen L-H, Øivind Gjertsen, Isaksen JG, Sorteberg A (2017) Cerebral aneurysm morphology before and after rupture. Stroke 48(4):880–886. https://doi.org/10.1161/STROKEAHA.116.015288CrossRef

Chen Z, Li H, Wu M, Chang C, Fan X, Liu X, Xu G (2020) Caliber of intracranial arteries as a marker for cerebral small vessel disease. Front Neurol. https://doi.org/10.3389/fneur.2020.558858CrossRefPubMedPubMedCentral

Manole AM, Iliescu DM, Rusali A, Bordei P (2013) Morphometry of the aortic arch and its branches. ARS Medica Tomitana 19(3):154–159. https://doi.org/10.2478/arsm-2013-0027CrossRef

Hsiao J-H, Chang J-YJ, Cheng C-M (2019) Soft medical robotics: clinical and biomedical applications, challenges, and future directions. Adv Robot 33(21):1099–1111. https://doi.org/10.1080/01691864.2019.1679251CrossRef

Reisenauer J, Simoff MJ, Pritchett MA, Ost DE, Majid A, Keyes C, Casal RF, Parikh MS, Diaz-Mendoza J, Fernandez-Bussy S, Folch EE (2022) Ion: technology and techniques for shape-sensing robotic-assisted bronchoscopy. Ann Thorac Surg 113(1):308–315. https://doi.org/10.1016/j.athoracsur.2021.06.086CrossRefPubMed

10.

Murgu SD (2019) Robotic assisted-bronchoscopy: technical tips and lessons learned from the initial experience with sampling peripheral lung lesions. BMC Pulmon Med. https://doi.org/10.1186/s12890-019-0857-zCrossRef

11.

Soyama T, Yoshida D, Sakuhara Y, Morita R, Abo D, Kudo K (2020) The steerable microcatheter: a new device for selective catheterisation. CardioVasc Intervent Radiol 40(6):947–952. https://doi.org/10.1007/s00270-017-1579-3CrossRef

12.

Leber A, Dong C, Laperrousaz S, Banerjee H, Abdelaziz MEMK, Bartolomei N, Schyrr B, Temelkuran B, Sorin F (2023) Highly integrated multi-material fibers for soft robotics. Adv Sci 10(2):2204016. https://doi.org/10.1002/advs.202204016CrossRef

13.

Runciman M, Darzi A, Mylonas GP (2019) Soft robotics in minimally invasive surgery. Soft Rob 6(4):423–443. https://doi.org/10.1089/soro.2018.0136. (PMID: 30920355)CrossRef

14.

Hwang J, Kim J-Y, Choi H (2020) A review of magnetic actuation systems and magnetically actuated guidewire- and catheter-based microrobots for vascular interventions. Science. https://doi.org/10.1007/s11370-020-00311-0CrossRefPubMedPubMedCentral

15.

Kim Y, Genevriere E, Harker P, Choe J, Balicki M, Regenhardt RW, Vranic JE, Dmytriw AA, Patel AB, Zhao X (2022) Telerobotic neurovascular interventions with magnetic manipulation. Sci Robot. https://doi.org/10.1126/scirobotics.abg9907CrossRefPubMedPubMedCentral

16.

Erin O, Liu X, Ge J, Opfermann J, Barnoy Y, Mair LO, Kang JU, Gensheimer W, Weinberg IN, Diaz-Mercado Y, Krieger A (2022) Overcoming the force limitations of magnetic robotic surgery: magnetic pulse actuated collisions for tissue-penetrating-needle for tetherless interventions. Adv Intell Syst 4(6):2200072. https://doi.org/10.1002/aisy.202200072CrossRefPubMedPubMedCentral

17.

KamranM BJ, Nagaraja S (2010) C-arm flat detector computed tomography: the technique and its applications in interventional neuro-radiology. Neuroradiology 52(4):319–327. https://doi.org/10.1007/s00234-009-0609-5CrossRef

18.

Gopesh T, Wen JH, Santiago-Dieppa D, Yan B, Pannell JS, Khalessi A, Norbash A, Friend J (2021) Soft robotic steerable microcatheter for the endovascular treatment of cerebral disorders. Sci Robot. https://doi.org/10.1126/scirobotics.abf0601CrossRefPubMedPubMedCentral

19.

Li M, Obregon R, Heit JJ, Norbash A, Hawkes EW, Morimoto TK (2021) Vine catheter for endovascular surgery. IEEE Trans Med Robot Bionics 3(2):384–391. https://doi.org/10.1109/TMRB.2021.3069984CrossRef

20.

Ikuta K, Matsuda Y, Yajima D, Ota Y (2012) Pressure pulse drive: a control method for the precise bending of hydraulic active catheters. IEEE/ASME Trans Mechatron 17(5):876–883. https://doi.org/10.1109/TMECH.2011.2138711CrossRef

21.

Kalisky T, Wang Y, Shih B, Drotman D, Jadhav S, Aronoff-Spencer E, Tolley MT (2017) Differential pressure control of 3d printed soft fluidic actuators. In: 2017 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 6207–6213. https://doi.org/10.1109/IROS.2017.8206523

22.

Lindenroth L, Back J, Schoisengeier A, Noh Y, Würdemann H, Althoefer K, Liu H (2016) Stiffness-based modelling of a hydraulically-actuated soft robotics manipulator. In: 2016 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 2458–2463. https://doi.org/10.1109/IROS.2016.7759383

23.

Inoue Y, Ikuta K (2016) Hydraulic driven active catheters with optical bending sensor. In: 2016 IEEE 29th international conference on micro electro mechanical systems (MEMS), pp 383–386. https://doi.org/10.1109/MEMSYS.2016.7421641

24.

Wakimoto S, Suzumori K, Ogura K (2011) Miniature pneumatic curling rubber actuator generating bidirectional motion with one air-supply tube. Adv Robot 25:1311–1330. https://doi.org/10.1163/016918611X574731

25.

Decroly G, Mertens B, Lambert P, Delchambre A (2020) Design, characterization and optimization of a soft fluidic actuator for minimally invasive surgery. Int J Comput Assisted Radiol Surg 5:333–340. https://doi.org/10.1007/s11548-019-02081-2CrossRef

26.

Ranzani T, Cianchetti M, Gerboni G, Falco ID, Menciassi A (2016) A soft modular manipulator for minimally invasive surgery: design and characterization of a single module. IEEE Trans Rob 32:187–200. https://doi.org/10.1109/TRO.2015.2507160

27.

Decroly G, Lambert P, Delchambre A (2021) A soft pneumatic two-degree-of-freedom actuator for endoscopy. Front Robot 8:1024. https://doi.org/10.3389/frobt.2021.768236CrossRef

28.

Zhang B, Hu C, Yang P, Liao Z, Liao H (2019) Design and modularization of multi-dof soft robotic actuators. IEEE Robot Autom Lett 4(3):2645–2652. https://doi.org/10.1109/LRA.2019.2911823CrossRef

29.

Chauhan M, Chandler JH, Jha A, Subramaniam V, Obstein KL, Valdastri P (2021) An origami-based soft robotic actuator for upper gastrointestinal endoscopic applications. Front Robot. https://doi.org/10.3389/frobt.2021.664720CrossRef

30.

Wang J, Chortos A (2022) Control strategies for soft robot systems. Adv Intell Syst 4(5):2100165. https://doi.org/10.1002/aisy.202100165CrossRef

31.

Schumacher C, Knoop E, Bächer M (2020) Simulation-ready characterization of soft robotic materials. IEEE Robot Autom Lett 5(3):3775–3782. https://doi.org/10.1109/LRA.2020.2982058CrossRef

32.

Marechal L, Balland P, Lindenroth L, Petrou F, Kontovounisios C, Bello F (2021) Toward a common framework and database of materials for soft robotics. Soft Rob 8(3):284–297. https://doi.org/10.1089/soro.2019.0115CrossRef

33.

Rosa B, Devreker A, De Praetere H, Gruijthuijsen C, Portoles-Diez S, Gijbels A, Reynaerts D, Herijgers P, Vander Sloten J, Vander Poorten E (2015) Intuitive teleoperation of active catheters for endovascular surgery. In: 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 2617–2624. https://doi.org/10.1109/IROS.2015.7353734

34.

Guo S, Song Y, Yin X, Zhang L, Tamiya T, Hirata H, Ishihara H (2019) A novel robot-assisted endovascular catheterization system with haptic force feedback. IEEE Trans Rob 35(3):685–696. https://doi.org/10.1109/TRO.2019.2896763CrossRef

35.

Wang K, Mai X, Xu H, Lu Q, Yan W (2020) A novel sea-based haptic force feedback master hand controller for robotic endovascular intervention system. Int J Med Robot Comput Assist Surg 16(5):2109. https://doi.org/10.1002/rcs.2109CrossRef

36.

Zhao Y, Mei Z, Luo X, Mao J, Zhao Q, Liu G, Wu D (2012) Remote vascular interventional surgery robotics a literature review. Quantit Imag Med Surg 12(4):2552–2574CrossRef

37.

Sarker S, Colton A, Wen Z, Xu X, Erdid M, Jones A, Kofinas P, Tubaldi E, Walczak P, Janowski M, Liang Y, Sochol RD (2023) 3D-printed microinjection needle arrays via a hybrid dlp-direct laser writing strategy. Adv Mater Technol. https://doi.org/10.1002/admt.202201641CrossRefPubMedPubMedCentral

38.

Alsharhan AT, Young O, Xu X, Stair AJ, Sochol RD (2021) Integrated 3D printed microfluidic circuitry and soft microrobotic actuators via in situ direct laser writing. J Micromech Microeng 31:044001. https://doi.org/10.1088/1361-6439/abec1c

39.

Drotman D, Jadhav S, Karimi M, de Zonia P, Tolley MT (2017) 3D printed soft actuators for a legged robot capable of navigating unstructured terrain. In: 2017 IEEE international conference on robotics and automation (ICRA), pp 5532–5538 . https://doi.org/10.1109/ICRA.2017.7989652

40.

Hubbard JD, Acevedo R, Edwards KM, Alsharhan AT, Wen Z, Landry J, Wang K, Schaffer S, Sochol RD (2021) Fully 3D-printed soft robots with integrated fluidic circuitry. Sci Adv 7(29):5257. https://doi.org/10.1126/sciadv.abe5257CrossRef

41.

Wang J, Chortos A (2022) Control strategies for soft robot systems. Adv Intell Syst 4(5):2100165. https://doi.org/10.1002/aisy.202100165CrossRef

42.

Xavier M.S, Fleming A.J, Yong Y.K (2019) Image-guided locomotion of a pneumatic-driven peristaltic soft robot. In: 2019 IEEE international conference on robotics and biomimetics (ROBIO), pp 2269–2274. https://doi.org/10.1109/ROBIO49542.2019.8961406

43.

Wang H, Yang B, Liu Y, Chen W, Liang X, Pfeifer R (2017) Visual servoing of soft robot manipulator in constrained environments with an adaptive controller. IEEE/ASME Trans Mechatron 22(1):41–50. https://doi.org/10.1109/TMECH.2016.2613410CrossRef

44.

Acevedo R, Wen Z, Rosenthal I.B, Freeman E.Z, Restaino M, Gonzalez N, Sochol R.D (2021) 3d nanoprinted external microfluidic structures via ex situ direct laser writing. In: 2021 IEEE 34th international conference on micro electro mechanical systems (MEMS), pp 10–13 . https://doi.org/10.1109/MEMS51782.2021.9375347

45.

Young O.M, Chen C.-Y, Xu X, Bentley W.E, Fuge M.D, Krieger A, Mass P, Kanter J.P, Olivieri L, Sochol R.D (2022) 3D microprinting of multi-actuator soft robots onto 3d-printed microfluidic devices via ex situ direct laser writing. In: Proceedings of the 20th solid-state sensors, actuators and microsystems workshop (Hilton Head 2022)

Titel: Toward a novel soft robotic system for minimally invasive interventions
verfasst von: Noah Barnes
Olivia Young
Adira Colton
Xiaolong Liu
Miroslaw Janowski
Dheeraj Gandhi
Ryan Sochol
Jeremy Brown
Axel Krieger
Publikationsdatum: 24.07.2023
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 9/2023
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-023-02997-w

Springer Professional

Abstract

Purpose

Methods

Results

Conclusion

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Wirtschaft"

Springer Professional "Technik"

Weitere Artikel der Ausgabe 9/2023

TRandAugment: temporal random augmentation strategy for surgical activity recognition from videos

A methodology for the annotation of surgical videos for supervised machine learning applications

A sensorized modular training platform to reduce vascular damage in endovascular surgery

Development and validation of a flexible fetoscope for fetoscopic laser coagulation

Comparison of image quality of 3D ultrasound: motorized acquisition versus freehand navigated acquisition, a phantom study

A semi-automated robotic system for percutaneous interventions

Premium Partner