A Novel Semi-autonomous Surgeon-in-the-loop in situ Robotic Bioprinting System for Functional and Cosmetic Restoration of Volumetric Muscle Loss Injuries

一种新型半自主外科医生在环原位机器人生物打印系统，用于体积肌肉丢失损伤的功能和美容恢复

• 批准号: 10473273
• 负责人: Farshid Alambeigi
• 金额: $ 135.41万
• 依托单位: UNIVERSITY OF TEXAS AT AUSTIN
• 依托单位国家: 美国
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10473273
• 关键词: 3-Dimensional; 3D Print; Abate; Address; Adhesions; Algorithms; Anatomic Surface; Anatomy; Biochemical; Biophysics; Bioreactors; Clinical; Computer Assisted; Cosmetics; Cues; Custom; Deposition; Engineering; Ensure; Failure; Feedback; Geometry; Goals; Human body; In Situ; In Vitro; Injury; Institutes; Intuition; Lead; Monitor; Motion; Muscle; Musculoskeletal; Natural regeneration; Operative Surgical Procedures; Organ; Patients; Printing; Procedures; Process; Resolution; Robotics; Safety; Signal Transduction; Surface; Surgeon; Surgical complication; Surgical sutures; System; Time; Tissue Engineering; Tissue constructs; Tissues; base; bioink; bioprinting; design; functional restoration; human tissue; hydrogel scaffold; implantation; improved; injured; innovation; instrument; loss of function; multidisciplinary; muscle engineering; musculoskeletal injury; novel; pain reduction; restoration; robotic system; success; tissue regeneration; volumetric muscle loss; wound

Summary/Abstract: Our long-goal is to develop an unprecedented semi-autonomous surgeon-in-the-loop surgical robotic system and complementary computer-assisted algorithms to enable an intuitive in situ robotic bioprinting of human tissues and organs. More specifically, using this extrusion-based bioprinting system, a surgeon can (i) first utilize a high-resolution three-dimensional (3D) point cloud camera to plan an arbitrary spatial printing geometry on the target anatomical surface, (ii) co-operate with a robotic system to manipulate a custom- designed bioprinting instrument to precisely follow the planned printing geometry, and (iii) perform an intuitive and precise deposition of engineered bioinks to make tissue constructs on the target anatomical surface, while (iv) directly control and monitor the printing process to ensure the safety and success of the procedure. The focus of this proposal is simultaneous functional and cosmetic restoration of large volumetric muscle loss (VML) injuries by utilizing a novel engineered bioink- developed by our collaborators at the Terasaki Institute of Biomedical Innovation, a complementary robotic bioprinting system, and intuitive computer- assisted algorithms. Severe musculoskeletal injuries can lead to VML, where extensive musculoskeletal damage and tissue loss result in permanent loss of function. In small-scale injuries or strains, muscle is capable of endogenous regeneration and complete functional restoration. However, this ability is abated in VML, where the native biophysical and biochemical signaling cues are no longer present to facilitate tissue regeneration. Current state- of-the-art in vitro tissue engineering VML treatment procedures suffer from various issues including (i) prolonged culturing period in bioreactors demanding functionality enhancement prior to implantation in the body; (ii) adhesion failure of in vitro 3D printed hydrogel scaffolds to the remnant muscle, whether injected, sutured, or placed into the wound; and (iii) inability to be printed precisely in irregular curved 3D surfaces of large VML injuries. It is our central hypothesis that the proposed semi-autonomous robotic bioprinting system can collectively address the mentioned limitations of the current state-of-the-art solutions by (i) reducing complexity, surgical time, and complications associated with current VML treatments, (ii) immediately delivering and in situ printing of appropriate bioinks to the target anatomy and utilizing the human body as a natural bioreactor to induce tissue maturation and function, and (iii) providing real-time feedback on the 3D bioprinted constructs as well as the surgeon’s and patient’s motions to ensure precision of the bioprinting procedure for simultaneous functional and cosmetic restoration of the injured muscle. The proposed project is multidisciplinary and bridges the current gap between the robotic surgery, tissue engineering, and bioprinting fields. The contribution is significant, high impact, and innovative and can revolutionize the current clinical paradigm.

摘要/摘要： 我们的长期目标是发展一个前所未有的半自治外科医生 系统和完整的计算机辅助算法，以实现直观的原位机器人 人体组织和器官的生物打印。更具体地说，使用此基于扩展的生物打印系统，一个 外科医生可以（i）首先使用高分辨率的三维（3D）点云摄像头来计划任意空间 目标解剖表面上的印刷几何形状，（ii）与机器人系统合作，以操纵定制 设计生物打印仪器以精确遵循计划的印刷几何形状，（iii）执行直观 并精确地沉积工程生物学以在目标解剖表面制造组织构建体，而 （iv）直接控制和监视打印过程，以确保程序的安全性和成功。 该提案的重点是简单的功能和整容恢复大容量的肌肉 损失（VML）通过使用我们在Terasaki的合作者开发的新型生物互联 生物医学创新研究所，完整的机器人生物打印系统和直观的计算机 - 辅助算法。 严重的肌肉骨骼损伤可能导致VML，在那里肌肉骨骼损伤和组织损失广泛 导致永久性功能丧失。在小规模受伤或菌株中，肌肉能够内源性 再生和完整的功能恢复。但是，这种能力在vml中融合 生物物理和生化信号提示不再存在以促进组织再生。当前状态 - ART体外组织工程VML治疗程序遭受了各种问题，包括（i）延长 生物反应器的培养期要求在体内植入之前提高功能性增强； （ii） 体外3D印刷水凝胶支架的粘附故障，无论是注射，缝合还是 放入伤口； （iii）无法精确印刷在大VML的不规则弯曲的3D表面 受伤。 我们的核心假设是，提出的半自治机器人生物打印系统可以集体 通过（i）降低复杂性，外科手术来解决当前最新解决方案的限制 时间和与当前VML治疗相关的并发症，（ii）立即交付和原位印刷 对目标解剖结构进行适当的生物键，并使用人体作为天然生物反应器诱导组织 成熟和功能，以及（iii）对3D生物打印结构以及 外科医生和患者的动作，以确保简单功能和 受伤的肌肉的美容恢复。拟议的项目是多学科的，并弥合当前差距 在机器人手术，组织工程和生物打印场之间。贡献很大，很高 影响力和创新性，可以彻底改变当前的临床范例。