Motor-Free Soft Robots for Cancer Detection, Surgery, and In Situ Bioprinting

Area of Science:

• Biomedical Engineering
• Robotics
• Minimally Invasive Surgery

Background:

• Teleoperated surgical robotic systems (TSRSs) are advancing minimally invasive surgery (MIS).
• Current TSRSs face challenges like rigidity, complex controls, and large sizes.
• Enhanced surgical instruments are needed for complex MIS procedures.

Purpose of the Study:

• To present a portable, motor-free soft robotic system with soft robotic arms (SRAs) for MIS.
• To demonstrate the system's capabilities for precise motion control and tremor minimization.
• To explore integrated functionalities for diagnostics and treatment within complex organs.

Main Methods:

• Development of two types of SRAs using a soft fibrous syringe architecture.
• Leveraging the soft fibrous syringe design to eliminate the need for complex control systems.
• Integration of microelectrodes for electrical impedance measurements and radio-frequency ablation.

Main Results:

• Achieved precise motion control with mean errors <300 µm, minimizing physical tremors.
• Demonstrated capabilities for cancer detection using electrical impedance measurements.
• Showcased potential for radio-frequency ablation, biomaterial injection, and internal 3D printing.

Conclusions:

• The developed motor-free SRAs offer a simple, cost-effective solution for MIS.
• This soft robotic platform represents a promising advancement for teleoperated surgical robotic systems.
• The system's integrated functionalities pave the way for enhanced diagnostic and therapeutic capabilities in MIS.