Self-propelled soft robotic endoscopes for next-generation gastrointestinal surgery and beyond

用于下一代胃肠手术及其他手术的自行式软机器人内窥镜

• 批准号: EP/X033546/1
• 负责人: Ferdinando Rodriguez Y Baena
• 金额: $ 607.1万
• 依托单位: Imperial College London
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FX033546%2F1
• 关键词: Self; propelled; soft; robotic; endoscopes

Gastrointestinal cancers, affecting the oesophagus, stomach and colon, are among the top ten cancers worldwide. Minimally invasive surgery uses endoscopes to access the body and offers important advantages compared to traditional open surgery through a large cut, including less trauma and faster recovery. Surgeons who use flexible endoscopy to treat patients need to be very experienced. Endoscopies are complex and can take a long time to do. A large number of endoscopies fail to reach the end of the colon and the small intestine due to the number of tight bends in the gut. Incomplete removal of tumours leads to regrowth and complications. Improving access to flexible endoscopy for diagnosis and treatment is very important to patients and doctors. We also need to make sure that the procedure is safe, accurate and affordable for the NHS.This research aims to transform early diagnosis and treatment of gut cancers using flexible endoscopy. We will combine a soft robotic endoscope with a probe carrying a miniature surgical laser, and a powerful tissue analysis device. This will be easier to use than standard endoscopes and will allow endoscopists with less experience to perform the surgery. The ability to find and treat early tumours will reduce the number of patients requiring further surgery, reduce discomfort and lower the number of tumours that grow back. Automation of key steps of the test - including deployment of the instrument, detection of cancer, and laser surgery - will eventually allow cancer surgeries to be done in outpatient clinics or GP surgeries. In this programme, we are bringing together leading experts in robotics, medical imaging, control, engineering, surgery and cancer. This expertise will help us to design a device which will have a major healthcare impact and benefit the largest possible number of patients.

胃肠道癌症影响食道、胃癌和结肠，是全球十大癌症之一。微创手术使用内窥镜进入身体，与通过大切口的传统开放手术相比，具有重要的优势，包括创伤更小、恢复更快。使用柔性内窥镜治疗患者的外科医生需要非常有经验。内窥镜检查很复杂，可能需要很长时间才能完成。由于肠道内有大量的急弯，大量内窥镜无法到达结肠和小肠的末端。肿瘤切除不彻底会导致肿瘤再生和并发症。提高柔性内窥镜诊断和治疗的可及性对于患者和医生来说非常重要。我们还需要确保该程序安全、准确且 NHS 负担得起。这项研究旨在利用柔性内窥镜改变肠道癌的早期诊断和治疗。我们将把软机器人内窥镜与携带微型手术激光器的探头和强大的组织分析设备结合起来。这比标准内窥镜更容易使用，并且允许经验较少的内窥镜医生进行手术。发现和治疗早期肿瘤的能力将减少需要进一步手术的患者数量，减少不适并减少复发的肿瘤数量。测试关键步骤的自动化——包括仪器的部署、癌症检测和激光手术——最终将允许癌症手术在门诊诊所或全科医生诊所进行。在这个项目中，我们汇集了机器人、医学成像、控制、工程、外科和癌症领域的领先专家。这些专业知识将帮助我们设计一种对医疗保健产生重大影响并造福尽可能多的患者的设备。

项目成果

Integral passivity-based control of underactuated mechanical systems with state-dependent matched disturbances

具有状态相关匹配扰动的欠驱动机械系统的基于积分无源的控制

• DOI: 10.1002/rnc.7151
• 发表时间: 2023
• 期刊: International Journal of Robust and Nonlinear Control
• 影响因子: 3.9
• 作者: Franco E

Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator

• DOI: 10.1017/s0263574723001170
• 发表时间: 2023-08
• 期刊: Robotica
• 影响因子: 2.7
• 作者: Varell Ferrandy;Indrawanto;F. Ferryanto;A. Sugiharto;Enrico Franco;Arnau Garriga-Casanovas;A. Mahyuddin;F. Rodriguez y Baena;S. Mihradi;Vani Virdyawan