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

基本信息

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

项目摘要

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.

影响食道，胃和结肠的胃肠癌是全球十大癌症之一。微创手术使用内窥镜来获取人体，与传统的开放手术相比，通过大型切割（包括更少的创伤和更快的恢复）提供了重要的优势。使用灵活内窥镜治疗患者的外科医生需要非常有经验。内窥镜很复杂，可能需要很长时间才能完成。由于肠道中的紧弯曲数量，大量内窥镜未能到达结肠的末端和小肠的末端。肿瘤的不完全去除会导致再生和并发症。改善获得灵活的内窥镜诊断和治疗的机会对患者和医生非常重要。我们还需要确保该过程对NH的安全性，准确且负担得起。这项研究旨在使用柔性内窥镜进行早期诊断和治疗肠癌的早期诊断和治疗。我们将将软机器人内窥镜与带有微型外科激光的探针和强大的组织分析装置相结合。这将比标准内窥镜更容易使用，并且可以允许具有较少经验的内窥镜进行手术。找到和治疗早期肿瘤的能力将减少需要进一步手术，减少不适并降低肿瘤数量的患者数量。测试的关键步骤的自动化 - 包括仪器的部署，癌症的检测和激光手术 - 最终将允许在门诊诊所或GP手术中进行癌症手术。在该计划中，我们将机器人技术，医学成像，控制，工程，手术和癌症领域的主要专家汇集在一起。这种专业知识将帮助我们设计一种将产生重大医疗保健并受益最多患者的设备。

项目成果

期刊论文数量（2）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

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
通讯作者：
Varell Ferrandy;Indrawanto;F. Ferryanto;A. Sugiharto;Enrico Franco;Arnau Garriga-Casanovas;A. Mahyuddin;F. Rodriguez y Baena;S. Mihradi;Vani Virdyawan

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