Flexible and Expandable Robot for Tissue Therapies – Modeling and Design
Flexible and Expandable Robot for Tissue Therapies – Modeling and Design
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DOI：
10.1109/tbme.2020.3007714
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发表时间：
2020-07
影响因子：
4.6
通讯作者：
Mohamed Atwya;C. Kavak;Elodie Alisse;YanQiang Liu;Dana D. Damian
中科院分区：
文献类型：
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作者：
Mohamed Atwya;C. Kavak;Elodie Alisse;YanQiang Liu;Dana D. Damian
目的：植入技术应与组织具有机械顺应性，以最大限度地提高组织质量并减少组织重建过程中的炎症。我们介绍了一种灵活且可扩展的植入式机器人 (FEIR) 装置的开发，该装置通过向目标组织施加受控且精确的张力，同时最大限度地减少周围组织产生的力，从而实现管状组织的再生伸长。方法：我们引入了基于迭代梁理论静态分析的理论框架，用于设计具有柔性机架的可扩展机器人。该模型考虑了机架的几何形状和力学，以确定其刚度和提供所需组织张力的能力之间的权衡。我们在台式和生物组织上凭经验验证了这一理论。结果：我们证明 FEIR 可以对组织施加所需的治疗力，同时减少对周围组织施加的力，并减少自我损伤。结论：该研究展示了一种开发机器人的方法，该机器人可以改变尺寸和形状以适应其动态环境，同时保持通过牵引操纵组织所需的精度和精细度。意义：该方法与植入技术的设计者相关。该机器人是治疗长间隙食管闭锁和短肠综合症的先驱医疗设备。
Objective: Implantable technologies should be mechanically compliant with the tissue in order to maximize tissue quality and reduce inflammation during tissue reconstruction. We introduce the development of a flexible and expandable implantable robotic (FEIR) device for the regenerative elongation of tubular tissue by applying controlled and precise tension to the target tissue while minimizing the forces produced on the surrounding tissue. Methods: We introduce a theoretical framework based on iterative beam theory static analysis for the design of an expandable robot with a flexible rack. The model takes into account the geometry and mechanics of the rack to determine a trade-off between its stiffness and capability to deliver the required tissue tension force. We empirically validate this theory on the benchtop and with biological tissue. Results: We show that FEIR can apply the required therapeutical forces on the tissue while reducing the amount of force it applies to the surrounding tissues as well as reducing self-damage. Conclusion: The study demonstrates a method to develop robots that can change size and shape to fit their dynamic environment while maintaining the precision and delicacy necessary to manipulate tissue by traction. Significance: The method is relevant to designers of implantable technologies. The robot is a precursor medical device for the treatment of Long-Gap Esophageal Atresia and Short Bowel Syndrome.