Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery.
Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery.
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DOI：
10.1002/advs.202205656
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发表时间：
2023-04
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三维（3D）生物打印技术在治疗组织和器官损伤方面具有巨大潜力。常规方法通常依赖于大形状因子台式生物打印机来在将体外3D活体构建体引入患者体内之前创建体外3D活体构建体，这造成了几个缺点，例如表面失配、结构损伤和高污染沿着由于运输和大型开放式手术造成的组织损伤。在活体内进行原位生物打印是一种潜在的转型解决方案，因为人体就像一个出色的生物反应器。这项工作介绍了一种多功能和灵活的原位3D生物打印机（F3 DB），其特点是将高自由度的软打印头集成到灵活的机械臂中，以将多层生物材料输送到内部器官/组织。该设备具有主从架构，并由运动学反演模型和基于学习的控制器操作。还使用不同的复合水凝胶和生物材料测试了具有不同图案、表面和结肠体模的3D打印能力。使用新鲜猪组织进一步证明了F3 DB进行内窥镜手术的能力。新系统有望填补原位生物打印领域的空白，并支持先进内窥镜手术机器人的未来发展。这项工作介绍了一种多功能和灵活的原位3D生物打印机，其特点是将高自由度的软打印头集成到灵活的蛇形机械臂中，以提供多层生物材料或进行内窥镜手术。新系统将填补原位生物打印领域的空白，并支持先进内窥镜手术机器人的未来发展。
Three‐dimensional (3D) bioprinting technology offers great potential in the treatment of tissue and organ damage. Conventional approaches generally rely on a large form factor desktop bioprinter to create in vitro 3D living constructs before introducing them into the patient's body, which poses several drawbacks such as surface mismatches, structure damage, and high contamination along with tissue injury due to transport and large open‐field surgery. In situ bioprinting inside a living body is a potentially transformational solution as the body serves as an excellent bioreactor. This work introduces a multifunctional and flexible in situ 3D bioprinter (F3DB), which features a high degree of freedom soft printing head integrated into a flexible robotic arm to deliver multilayered biomaterials to internal organs/tissues. The device has a master‐slave architecture and is operated by a kinematic inversion model and learning‐based controllers. The 3D printing capabilities with different patterns, surfaces, and on a colon phantom are also tested with different composite hydrogels and biomaterials. The F3DB capability to perform endoscopic surgery is further demonstrated with fresh porcine tissue. The new system is expected to bridge a gap in the field of in situ bioprinting and support the future development of advanced endoscopic surgical robots. This work introduces a multifunctional and flexible in situ 3D bioprinter that features a high degree of freedom soft printing head integrated into a flexible snake‐like robotic arm to deliver multilayered biomaterials or perform endoscopic surgery. The new system will bridge a gap in the field of in situ bioprinting and support the future development of advanced endoscopic surgical robots.