Automated design of a scalable, additively manufactured robot system for microinvasive interventions in visceral medicine

这个子项目是关于用增材制造技术制造的机械臂（SPOT, Single-Port Overtube system）的自动化构建，用于胃肠病学和内脏医学的微创干预。SPOT是在之前成功结束的DFG FOR 1321项目中开发的，并在猪模型中反复测试。SPOT被设计为标准内窥镜的外壳，它允许治疗医生在患者体内控制两个灵活的内窥镜标准仪器，并使它们从不同的方向朝向物体。该项目的目的是通过自动化的、特定任务的构建来调整SPOT，以适应计划的干预，患者的解剖结构以及可用的仪器，如果需要用于图像处理的传感器（TP 5）或连接到医疗导航系统（TP 2）。为了这个目的，我们想要开发一个以知识为基础的系统，用于规划干预，一个包含所需工具的数据库和一个用于自动化设计的工具箱。基于知识的系统（与TP 4一起）应该利用患者的解剖图像数据、诊断和病史来计划spot干预。从这些信息中，我们推断出这个子项目中SPOT设计的技术规范。直径，灵活性或工作空间)。因此，我们建立了一个数据库，其中存储了与spot设计相关的所有仪器测量和特征。对于不同的干预，解剖结构和仪器，应该科学地分析如何可靠地推断出对SPOT的要求，以及如何使用增材制造技术SLS（选择性激光烧结）以某种方式制造缩放SPOT，从而提供执行微创干预所需的功能。对于SPOT的自动化设计，首先将系统分为静态和功能元件，并使用生物相容性聚酰胺pa2200通过SLS系统地分析了可生产性的限制以及可以实现的性能。有了这些发现，构建元素被实现为构建算法，SPOT以参数化的方式重建。作为基础，我们使用自己在Matlab中实现的初步工作中的构造算法（VLFL-Lib，约900个函数）。这样，结构元件的特性就可以被特别地、适当地设计用于生产。最后，它应该可以扩展SPOT，适应其特性并自动设计它，以便使用生物相容性pa2200的SLS制造。

This sub-project is about the automated construction of a manipulator (SPOT, Single-Port Overtube system) fabricated with additive manufacturing technologies, for minimally invasive interventions in gastroenterology and visceral medicine. The SPOT was being developed in the successfully concluded previous project DFG FOR 1321 and repeatedly tested in a porcine model. The SPOT is designed as a casing for standard endoscopes, which allows the treating physician to control two flexible endoscopic standard instruments independently from each other within the patients body and to orient them towards an object from different directions. The aim of this project is to adapt a SPOT via automated, task-specific construction to a planned intervention, the patients anatomy as well as the available instruments and if needed sensors for image processing (TP 5) or the connection to a medical navigation system (TP 2). For this purpose we want to develop a knowledge-based system for planning interventions, a database with needed tools and a toolbox for automated design. The knowledge-based system (together with TP 4) is supposed to plan SPOT-interventions using the patients anatomical image data, diagnosis and medical history. From this information we deduce the technical specifications for the design of a SPOT in this sub-project (max. diameter, flexibility or workspace). Therefor we set up a database in which all instruments measurements and features are stored, that are relevant for the SPOTs design. For different interventions, anatomies and instruments it shall be analyzed scientifically how the requirements for a SPOT can be deduced reliably and with which scaling a SPOT can be fabricated using the additive manufacturing technology SLS (selective laser sintering) in a way, that the required functionality needed for performing a minimally invasive intervention can be provided. For the automated design of a SPOT the system is firstly divided into static and functional elements and are analyzed systematically regarding limits of producibility via SLS using the biocompatible polyamide PA 2200 and the properties that can be achieved. With these findings, the construction elements are implemented as construction algorithms with which the SPOT is rebuild in a parametrized manner. As a basis we use construction algorithms from own preliminary work that have been implemented in Matlab (VLFL-Lib, ca. 900 functions). In doing so the construction elements properties can be adapted specifically and suitably designed for production. Finally it should be possible to scale a SPOT, adapt its characteristics and automatically design it for the manufacturing using SLS of biocompatible PA 2200.