Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery
Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery
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DOI：
10.1002/aisy.201900086
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发表时间：
2020-06-01
影响因子：
7.4
通讯作者：
Nelson, Bradley J.
中科院分区：
文献类型：
--
作者：
Chautems, Christophe;Tonazzini, Alice;Nelson, Bradley J.
微创手术的挑战之一是对小直径连续体手术器械的灵活操作和精确控制。在此，介绍了一种可变刚度（VS）的磁性连续体装置，其末端可利用外部磁场进行精确塑形和控制。基于低熔点合金（LMPA），构成连续体装置的串联节段可通过电流独立软化，并在磁扭矩作用下远程变形，而装置的其余部分则被锁定在原位。由此产生的系统具有将磁导航的精确性与通过改变节段刚度所提供的额外自由度相结合的优势。这种具有可变刚度的磁性连续体装置最小直径小至2.33毫米且具有内部工作通道，适用于多种治疗场景，包括心脏射频消融和胃肠道介入内镜检查。磁扭矩用于远程控制软节段的形状，而硬节段保持不变，从而为磁性连续体装置增加了自由度。
One of the challenges of minimally invasive surgery is the dexterous manipulation and precise control of small-diameter continuum surgical instruments. Herein, a magnetic continuum device with variable stiffness (VS) is presented, whose tip is precisely shaped and controlled using an external magnetic field. Based on a low melting point alloy (LMPA), the serial segments composing the continuum device are independently softened via electrical current and remotely deformed under a magnetic torque, whereas the rest of the device is locked in place. The resulting system has the advantage of combining the precision of magnetic navigation with additional degrees of freedom provided by changing the segments stiffness. With a minimum diameter as small as 2.33mm and an inner working channel, the magnetic continuum device with VS is adapted to use in several therapeutic scenarios, including radio-frequency cardiac ablations and interventional endoscopy in the gastrointestinal tract. The magnetic torque is used to remotely control the shape of the soft sections, whereas the stiff sections remain unchanged, thus adding degrees of freedom to the magnetic continuum device.