A Novel Semi-autonomous Surgeon-in-the-loop in situ Robotic Bioprinting System for Functional and Cosmetic Restoration of Volumetric Muscle Loss Injuries

一种新型半自主外科医生在环原位机器人生物打印系统，用于体积肌肉丢失损伤的功能和美容恢复

• 批准号: 10473273
• 负责人: Farshid Alambeigi
• 金额: $ 135.41万
• 依托单位: UNIVERSITY OF TEXAS AT AUSTIN
• 依托单位国家: 美国
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10473273
• 关键词: 3-Dimensional; 3D Print; Abate; Address; Adhesions; Algorithms; Anatomic Surface; Anatomy; Biochemical; Biophysics; Bioreactors; Clinical; Computer Assisted; Cosmetics; Cues; Custom; Deposition; Engineering; Ensure; Failure; Feedback; Geometry; Goals; Human body; In Situ; In Vitro; Injury; Institutes; Intuition; Lead; Monitor; Motion; Muscle; Musculoskeletal; Natural regeneration; Operative Surgical Procedures; Organ; Patients; Printing; Procedures; Process; Resolution; Robotics; Safety; Signal Transduction; Surface; Surgeon; Surgical complication; Surgical sutures; System; Time; Tissue Engineering; Tissue constructs; Tissues; base; bioink; bioprinting; design; functional restoration; human tissue; hydrogel scaffold; implantation; improved; injured; innovation; instrument; loss of function; multidisciplinary; muscle engineering; musculoskeletal injury; novel; pain reduction; restoration; robotic system; success; tissue regeneration; volumetric muscle loss; wound

Summary/Abstract: Our long-goal is to develop an unprecedented semi-autonomous surgeon-in-the-loop surgical robotic system and complementary computer-assisted algorithms to enable an intuitive in situ robotic bioprinting of human tissues and organs. More specifically, using this extrusion-based bioprinting system, a surgeon can (i) first utilize a high-resolution three-dimensional (3D) point cloud camera to plan an arbitrary spatial printing geometry on the target anatomical surface, (ii) co-operate with a robotic system to manipulate a custom- designed bioprinting instrument to precisely follow the planned printing geometry, and (iii) perform an intuitive and precise deposition of engineered bioinks to make tissue constructs on the target anatomical surface, while (iv) directly control and monitor the printing process to ensure the safety and success of the procedure. The focus of this proposal is simultaneous functional and cosmetic restoration of large volumetric muscle loss (VML) injuries by utilizing a novel engineered bioink- developed by our collaborators at the Terasaki Institute of Biomedical Innovation, a complementary robotic bioprinting system, and intuitive computer- assisted algorithms. Severe musculoskeletal injuries can lead to VML, where extensive musculoskeletal damage and tissue loss result in permanent loss of function. In small-scale injuries or strains, muscle is capable of endogenous regeneration and complete functional restoration. However, this ability is abated in VML, where the native biophysical and biochemical signaling cues are no longer present to facilitate tissue regeneration. Current state- of-the-art in vitro tissue engineering VML treatment procedures suffer from various issues including (i) prolonged culturing period in bioreactors demanding functionality enhancement prior to implantation in the body; (ii) adhesion failure of in vitro 3D printed hydrogel scaffolds to the remnant muscle, whether injected, sutured, or placed into the wound; and (iii) inability to be printed precisely in irregular curved 3D surfaces of large VML injuries. It is our central hypothesis that the proposed semi-autonomous robotic bioprinting system can collectively address the mentioned limitations of the current state-of-the-art solutions by (i) reducing complexity, surgical time, and complications associated with current VML treatments, (ii) immediately delivering and in situ printing of appropriate bioinks to the target anatomy and utilizing the human body as a natural bioreactor to induce tissue maturation and function, and (iii) providing real-time feedback on the 3D bioprinted constructs as well as the surgeon’s and patient’s motions to ensure precision of the bioprinting procedure for simultaneous functional and cosmetic restoration of the injured muscle. The proposed project is multidisciplinary and bridges the current gap between the robotic surgery, tissue engineering, and bioprinting fields. The contribution is significant, high impact, and innovative and can revolutionize the current clinical paradigm.

摘要/摘要： 我们的长期目标是开发一种前所未有的半自主外科医生循环手术机器人 系统和补充计算机辅助算法，以实现直观的原位机器人 更具体地说，使用这种基于挤出的生物打印系统，可以对人体组织和器官进行生物打印。 外科医生可以 (i) 首先利用高分辨率三维 (3D) 点云相机来规划任意空间 在目标解剖表面上打印几何形状，（ii）与机器人系统合作来操纵定制的 设计的生物打印仪器精确遵循计划的打印几何形状，并且（iii）执行直观的 以及工程生物墨水的精确沉积，以在目标解剖表面上构建组织结构，同时 (iv) 直接控制和监控打印过程，以确保过程的安全和成功。 该提案的重点是大体积肌肉的同时功能和美容修复 利用我们在 Terasaki 的合作者开发的新型工程生物墨水来损失 (VML) 损伤 生物医学创新研究所，一个互补的机器人生物打印系统和直观的计算机 辅助算法。 严重的肌肉骨骼损伤可导致 VML，其中广泛的肌肉骨骼损伤和组织损失 在小范围的损伤或拉伤中，肌肉能够发生内源性功能丧失。 然而，这种能力在 VML 中减弱，其中本机 生物物理和生化信号线索不再存在以促进组织再生。 最先进的体外组织工程 VML 治疗程序存在各种问题，包括 (i) (ii) 在植入体内之前需要增强功能的生物反应器中的培养期； 体外 3D 打印水凝胶支架与残余肌肉的粘附失败，无论是注射、缝合还是 (iii) 无法在大型 VML 的不规则弯曲 3D 表面上进行精确打印 受伤。 我们的中心假设是所提出的半自主机器人生物打印系统可以共同 通过以下方式解决当前最先进解决方案的上述局限性：（i）降低复杂性、手术 时间以及与当前 VML 治疗相关的并发症，(ii) 立即输送和原位打印 将适当的生物墨水应用于目标解剖结构并利用人体作为天然生物反应器来诱导组织 成熟和功能，以及 (iii) 提供有关 3D 生物打印结构以及 外科医生和患者的动作，以确保生物打印过程的精确性，同时实现功能和功能 拟议的项目是跨学科的，旨在弥补目前的差距。 机器人手术、组织工程和生物打印领域之间的贡献是显着的、高的。 影响力和创新性，可以彻底改变当前的临床范式。