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EFRI C3 SoRo: Magneto-electroactive Soft, Continuum, Compliant, Configurable (MESo-C3) Robots for Medical Applications Across Scales

EFRI C3 SoRo：磁电活性软、连续、兼容、可配置 (MESo-C3) 机器人，适用于各种规模的医疗应用

基本信息

批准号：
1830958
负责人：
Jake Abbott
金额：
$ 199.99万
依托单位：
University of Utah
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2018
资助国家：
美国
起止时间：
2018-09-15 至 2024-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830958&HistoricalAwards=false
关键词：
EFRI C3 SoRo Magneto electroactive

项目摘要

The vision of this collaborative project between the University of Utah, the University of Minnesota, and Santa Clara University is to extend the capabilities of clinicians by enabling minimally invasive access to locations in the human body that are currently difficult or impossible to reach, using a new class of 3D printed magneto-electroactive soft, continuum, compliant, and configurable (MESo-C3) mesoscale robotic devices that will travel along the natural pathways of the human body for a wide range of diagnostic and therapeutic applications. This includes a new breed of tethered and untethered soft endoscopes, catheters, and minirobots with diameters of &#8764;0.1-10mm that will address limitations of current clinical and benchtop devices. MESo-C3 will fundamentally change medical devices that currently involve pushing, pulling, or screwing through the lumens of the human body to devices that actively wiggle and assist in their own propulsion and maneuvering. The knowledge and technology created in this project have the potential to significantly impact healthcare across the globe. Cancers of the gastrointestinal (GI) tract are some of the most common and most deadly, and the likelihood of survival is significantly increased with early detection, yet our population is still woefully underscreened. MESo-C3 could make GI-tract screening safer, less expensive, more effective, and less intimidating to patients. Many disorders of the brain are difficult or impossible to treat due to the brain's fragility and complex structure. MESo-C3 could enable safe access to currently unreachable areas of the brain, which could fundamentally change our treatment and understanding of what is arguably our most important organ. In addition, the knowledge generated in the area of additive manufacturing will have impact far beyond MESo-C3. The project also provides research opportunities for undergraduate students, involves presentations to large numbers of high-school students, supports a new summer-camp outreach activity to the underrepresented Pacific Islander community, and involves industry and medical experts.MESo-C3 is a unique synergistic integration of three complementary technologies: compliant cylindrical structures with wireless high-bandwidth magnetic propulsion; low-bandwidth large-deformation electroactive polymer (EAP) actuators; and ultra-sensitive soft supercapacitance-based strain, force, and moduli-of-elasticity sensors via multi-scale additive manufacturing technology. The goal is to understand the kinematics, dynamics, sensing, and control of 3D-printed MESo-C3 robots, with a simplicity that enables application across scales. This project comprises of the co-development of four integrated research aims: (1) Magnetic propulsion that is simple in terms of fabrication and control compared to previous mechanisms for crawling in tubes, which easily lends itself to being incorporated into small, functional capsule- and catheter-shaped medical devices. A variety of modeling tools with varying levels of fidelity and computational costs will be devised to elucidate the propulsion dynamics and support the design and optimization of the MESo-C3 robots at different stages of the project. (2) Innovative approaches for EAP-based morphology control to enable intelligent reconfiguration, manipulation, and steering of MESo-C3 robots. (3) Supercapacitive sensors designed for use in body-fluid environments, and capable of measuring shear and normal forces on the robot, strains at critical locations, and elasticity moduli of grasped objects. (4) The advancement of multiscale, multimaterial 3D printing via fundamental studies of soft-matter physics and materials development to enable the creation of mesoscale hybrid devices, which seamlessly integrates with the development of the key technologies in aims 1 through 3.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

犹他大学、明尼苏达大学和圣克拉拉大学的这一合作项目的愿景是，通过使用新型3D打印磁电活性软、连续、兼容和可配置(Meso-C3)中尺度机器人设备，实现对人体中目前难以或不可能到达的位置的微创访问，从而扩展临床医生的能力，这些设备将沿着人体的自然路径传播，用于广泛的诊断和治疗应用。这包括一种新型的绳系和非绳系软内窥镜、导管和微型机器人，直径为0.1-10毫米，将解决当前临床和台式设备的局限性。Meso-C3将从根本上改变目前涉及推动、拉动或螺旋穿过人体管腔的医疗设备，使其成为主动扭动并帮助自身推进和机动的设备。该项目创造的知识和技术有可能对全球的医疗保健产生重大影响。胃肠道(GI)癌是最常见和最致命的癌症之一，如果及早发现，存活的可能性会显著增加，但可悲的是，我们的人口仍然没有得到充分的筛查。Meso-C3可以使胃肠道筛查更安全、更便宜、更有效、对患者的威胁性更小。由于大脑的脆弱性和复杂的结构，许多大脑疾病很难或不可能治疗。Meso-C3可以安全地进入目前无法触及的大脑区域，这可能从根本上改变我们对可以说是我们最重要的器官的治疗和理解。此外，在添加剂制造领域产生的知识的影响将远远超出Meso-C3。该项目还为本科生提供研究机会，向大量高中生做演讲，支持面向未被充分代表的太平洋岛民社区的新夏令营推广活动，并吸引行业和医疗专家参与。MESO-C3是三项互补技术的独特协同集成：具有无线高带宽磁推进的柔顺圆柱形结构；低带宽大变形电活性聚合物(EAP)致动器；以及通过多尺度加法制造技术实现的超灵敏软超电容应变、力和弹性模数传感器。我们的目标是了解3D打印的Meso-C3机器人的运动学、动力学、传感和控制，并实现跨尺度应用的简单性。该项目包括四个综合研究目标的共同开发：(1)与以前的管内爬行机构相比，磁力推进在制造和控制方面都很简单，它很容易被整合到小型、功能胶囊和导管形状的医疗设备中。将设计各种具有不同保真度和计算成本的建模工具，以阐明推进动力学，并在项目的不同阶段支持Meso-C3机器人的设计和优化。(2)基于EAP的形态控制创新方法，实现了Meso-C3机器人的智能重构、操纵和转向。(3)设计用于体液环境的超级电容式传感器，能够测量机器人上的剪切力和法向力、关键位置的应变和抓取物体的弹性系数。(4)通过软物质物理和材料开发的基础研究，推动多尺度、多材料3D打印的发展，以创造与目标1至3中的关键技术开发无缝结合的中尺度混合设备。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

期刊论文数量（39）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Toward Targeted Therapy in the Brain by Leveraging Screw-Tip Soft Magnetically Steerable Needles

利用螺旋尖软磁控针实现大脑靶向治疗

DOI：
10.31256/hsmr2022.40
发表时间：
2022
期刊：
Proceedings of the Hamlyn Symposium on Medical Robotics
影响因子：
0
作者：
Schwehr, Trevor J;Sperry, Adam J;Rolston, John D;Alexander, Matthew D;Abbott, Jake J;Kuntz, Alan
通讯作者：
Kuntz, Alan

Six-Degree-of-Freedom Localization With a 3-Axis Accelerometer and a 2-Axis Magnetometer for Magnetic Capsule Endoscopy