MorphGI:一种通过形状变形的自动推进软机器人内镜
Julius E Bernth1, Guokai Zhang1, Dionysios Malas1
1Department of Surgical and Interventional Engineering, School of Biomedical Engineering and Imaging Sciences, King's College London, London, United Kingdom.
Soft robotics
|March 14, 2024
概括
新型的MorphGI机器人内镜为检测肠癌提供了比传统结肠镜更安全,自行驱动的替代方案. 它在模拟的结肠环境中展示了减少的插入力和高效的导航.
科学领域:
- 医疗器械 医疗器械
- 机器人技术 机器人技术 机器人技术
- 胃肠病学 胃肠病学
背景情况:
- 传统的结肠镜虽然有效检测肠癌,但具有设计局限性,包括刚性和难以操纵性,导致患者不适和潜在伤害.
- 现有的结肠镜技术在几十年的基本设计中经历了最小的创新.
研究的目的:
- 引入和评估MorphGI,这是一种新型机器人内镜系统,旨在提高结肠镜检查的安全性和易用性.
- 与传统结肠镜相比,评估MorphGI在机动性,减力和自我推进能力方面的性能.
主要方法:
- 采用柔软,自动推进的机器人内镜的MorphGI系统经过了动力控制验证.
- 使用长板结肠模拟器,强力感应结肠模拟器和手术切除猪结肠组织来评估性能.
主要成果:
- 在模拟器中,MorphGI在平均10.84分钟内成功完成了结肠镜检查.
- 与传统的结肠镜相比,MorphGI显著降低了峰值插入力 (77%在高刚度模式下,62%在低刚度模式下).
- 自动推进在切除的组织中得到了验证,但由于解剖学差异,在活猪中没有验证.
结论:
- MorphGI机器人内镜系统具有核心功能,证明其作为更安全,更易于管理的结肠镜替代品的潜力.
- 需要进一步开发以解决解剖学差异,以便在人体患者中成功地在体内应用.
相关概念视频
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