Micro-Robotics for Surgery

手术用微型机器人

• 批准号: EP/P012779/1
• 负责人: Guang-Zhong Yang
• 金额: $ 794.64万
• 依托单位: Imperial College London
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2017
• 资助国家: 英国
• 起止时间: 2017 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FP012779%2F1
• 关键词: Micro; Robotics; Surgery

As minimally invasive surgery is being adopted in a wide range of surgical specialties, there is a growing trend in precision surgery, focussing on early malignancies with minimally invasive intervention and greater consideration on patient recovery and quality of life. This requires the development of sophisticated micro-instruments integrated with imaging, sensing, and robotic assistance for micro-surgical tasks. This facilitates management of increasingly small lesions in more remote locations with complex anatomical surroundings. The proposed programme grant seeks to harness different strands of engineering and clinical developments in micro-robotics for precision surgery to establish platform technologies in: 1) micro-fabrication and actuation; 2) micro-manipulation and cooperative robotic control; 3) in vivo microscopic imaging and sensing; 4) intra-operative vision and navigation; and 5) endoluminal platform development. By using endoluminal micro-surgical intervention for gastrointestinal, cardiovascular, lung and breast cancer as the exemplars, we aim to establish a strong technological platform with extensive industrial and wider academic collaboration to support seamless translational research and surgical innovation that are unique internationally.

随着微创手术在各个外科专科的广泛应用，精准手术的趋势日益明显，以微创介入治疗早期恶性肿瘤为重点，更多地考虑患者的康复和生活质量。这需要开发集成成像、传感和机器人辅助的复杂微型仪器，以完成显微手术任务。这有助于在解剖环境复杂的偏远地区管理越来越小的病变。拟议的计划拨款旨在利用微机器人技术的不同工程和临床开发进行精密手术，以建立以下领域的平台技术：1）微制造和驱动； 2）微操纵与机器人协作控制； 3）活体显微成像与传感； 4）术中视野和导航； 5）腔内平台开发。以胃肠道、心血管、肺癌和乳腺癌的腔内显微手术干预为范例，我们的目标是建立一个强大的技术平台，进行广泛的工业和更广泛的学术合作，以支持国际上独一无二的无缝转化研究和手术创新。

项目成果

Task-Based LSTM Kinematic Modeling for a Tendon-Driven Flexible Surgical Robot

• DOI: 10.1109/tmrb.2021.3127366
• 发表时间: 2022-05
• 期刊: IEEE Transactions on Medical Robotics and Bionics
• 作者: Weibang Bai;Francesco Cursi;Xiaotong Guo;Baoru Huang;Benny P. L. Lo;Guang-Zhong Yang;E. Yeatman

Deep Reinforcement Learning-Based Control Framework for Multilateral Telesurgery

• DOI: 10.1109/tmrb.2022.3170786
• 发表时间: 2022-05
• 期刊: IEEE Transactions on Medical Robotics and Bionics
• 作者: Sarah Chams Bacha;Weibang Bai;Ziwei Wang;Bo Xiao;E. Yeatman

Microfluidics at Fiber Tip for Nanoliter Delivery and Sampling.

• DOI: 10.1002/advs.202004643
• 发表时间: 2021-05
• 期刊: Advanced science (Weinheim, Baden-Wurttemberg, Germany)
• 作者: Barbot A;Wales D;Yeatman E;Yang GZ
• 通讯作者: Yang GZ

Anthropomorphic Dual-Arm Coordinated Control for a Single-Port Surgical Robot Based on Dual-Step Optimization

• DOI: 10.1109/tmrb.2022.3145673
• 发表时间: 2022-02
• 期刊: IEEE Transactions on Medical Robotics and Bionics
• 作者: Weibang Bai;Ziwei Wang;Q. Cao;H. Yokoi;M. Fujie;E. Yeatman;Guang-Zhong Yang