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Zhang C, Tang X, Yang M, Zhao H, Sun D. Performance analysis of a liquid lens for laser ablation using OCT imaging. APPLIED OPTICS 2024; 63:4271-4277. [PMID: 38856602 DOI: 10.1364/ao.525094] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/28/2024] [Accepted: 05/02/2024] [Indexed: 06/11/2024]
Abstract
Laser ablation has been used in different surgical procedures to perform precise treatments. Compared with previous free-beam laser delivery systems, flexible-optical-fiber-based systems can deliver laser energy to a curved space, avoiding the requirement of a straight working path to the target. However, the fiber tip maintains direct contact with the tissue to prevent laser divergence, resulting in fiber damage, uneven ablation, and tissue carbonization. Here, a liquid lens is used to address the problem of laser defocusing when radiating targets at different depths for flexible-optical-fiber-based systems. The liquid lens focuses a laser with a maximum power of 3 W onto a medium-density fiberboard at a focal length of 40-180 mm. The relationships between the ablation crater diameter and depth with the radiation time and laser power have been quantitatively evaluated through OCT (optical coherence tomography) imaging. Experiments demonstrate that the liquid lens can continuously focus the high-power laser to different depths, with the advantages of compact size, fast response, light weight, and easy operation. This study explores liquid-lens-based focused laser ablation, which can potentially improve the performance of future medical image-guided laser ablation.
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2
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Xiong K, Xu L. The Model Study of Phase-Transitional Magnetic-Driven Micromotors for Sealing Gastric Perforation via Mg-Based Micropower Traction. NANOMATERIALS (BASEL, SWITZERLAND) 2024; 14:865. [PMID: 38786822 PMCID: PMC11123717 DOI: 10.3390/nano14100865] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/10/2024] [Revised: 05/13/2024] [Accepted: 05/13/2024] [Indexed: 05/25/2024]
Abstract
Gastric perforation refers to the complete rupture of the gastric wall, leading to the extravasation of gastric contents into the thoracic cavity or peritoneum. Without timely intervention, the expulsion of gastric contents may culminate in profound discomfort, exacerbating the inflammatory process and potentially triggering perilous sepsis. In clinical practice, surgical suturing or endoscopic closure procedures are commonly employed. Magnetic-driven microswarms have also been employed for sealing gastrointestinal perforation. However, surgical intervention entails significant risk of bleeding, while endoscopic closure poses risks of inadequate closure and the need for subsequent removal of closure clips. Moreover, the efficacy of microswarms is limited as they merely adhere to the perforated area, and their sealing effect diminishes upon removal of the magnetic field. Herein, we present a Fe&Mg@Lard-Paraffin micromotor (LPM) constructed from a mixture of lard and paraffin coated with magnesium (Mg) microspheres and iron (Fe) nanospheres for sutureless sealing gastric perforations. Under the control of a rotating magnetic field, this micromotor demonstrates precise control over its movement on gastric mucosal folds and accurately targets the gastric perforation area. The phase transition induced by the high-frequency magnetothermal effect causes the micromotor composed of a mixed oil phase of lard and paraffin to change from a solid to a liquid phase. The coated Mg microspheres are subsequently exposed to the acidic gastric acid environment to produce a magnesium protonation reaction, which in turn generates hydrogen (H2) bubble recoil. Through a Mg-based micropower traction, part of the oil phase could be pushed into the gastric perforation, and it would then solidify to seal the gastric perforation area. Experimental results show that this can achieve long-term (>2 h) gastric perforation sealing. This innovative approach holds potential for improving outcomes in gastric perforation management.
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Affiliation(s)
| | - Leilei Xu
- State Key Laboratory of Advanced Technology for Materials Synthesis and Processing, Wuhan University of Technology, Wuhan 430070, China;
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3
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Zhu Y, Jia H, Jiang Y, Guo Y, Duan Q, Xu K, Shan B, Liu X, Chen X, Wu F. A red blood cell-derived bionic microrobot capable of hierarchically adapting to five critical stages in systemic drug delivery. EXPLORATION (BEIJING, CHINA) 2024; 4:20230105. [PMID: 38855612 PMCID: PMC11022606 DOI: 10.1002/exp.20230105] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/29/2023] [Accepted: 11/07/2023] [Indexed: 06/11/2024]
Abstract
The tumour-targeting efficiency of systemically delivered chemodrugs largely dictates the therapeutic outcome of anticancer treatment. Major challenges lie in the complexity of diverse biological barriers that drug delivery systems must hierarchically overcome to reach their cellular/subcellular targets. Herein, an "all-in-one" red blood cell (RBC)-derived microrobot that can hierarchically adapt to five critical stages during systemic drug delivery, that is, circulation, accumulation, release, extravasation, and penetration, is developed. The microrobots behave like natural RBCs in blood circulation, due to their almost identical surface properties, but can be magnetically manipulated to accumulate at regions of interest such as tumours. Next, the microrobots are "immolated" under laser irradiation to release their therapeutic cargoes and, by generating heat, to enhance drug extravasation through vascular barriers. As a coloaded agent, pirfenidone (PFD) can inhibit the formation of extracellular matrix and increase the penetration depth of chemodrugs in the solid tumour. It is demonstrated that this system effectively suppresses both primary and metastatic tumours in mouse models without evident side effects, and may represent a new class of intelligent biomimicking robots for biomedical applications.
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Affiliation(s)
- Ya‐Xuan Zhu
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
- Shanghai Tenth People's HospitalShanghai Frontiers Science Center of Nanocatalytic MedicineSchool of MedicineTongji UniversityShanghaiPeople's Republic of China
| | - Hao‐Ran Jia
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
- The Cancer Hospital of the University of Chinese Academy of Sciences (Zhejiang Cancer Hospital)Hangzhou Institute of Medicine (HIM)Chinese Academy of SciencesHangzhouZhejiangPeople's Republic of China
| | - Yao‐Wen Jiang
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
| | - Yuxin Guo
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
| | - Qiu‐Yi Duan
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
| | - Ke‐Fei Xu
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
| | - Bai‐Hui Shan
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
| | - Xiaoyang Liu
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
| | - Xiaokai Chen
- School of ChemistryChemical Engineering and BiotechnologyNanyang Technological UniversitySingaporeSingapore
| | - Fu‐Gen Wu
- State Key Laboratory of Digital Medical EngineeringJiangsu Key Laboratory for Biomaterials and DevicesSchool of Biological Science and Medical EngineeringSoutheast UniversityNanjingJiangsuPeople's Republic of China
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4
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Zhang C, Wei R, Mo H, Zhai Y, Sun D. Deep learning-assisted 3D laser steering using an optofluidic laser scanner. BIOMEDICAL OPTICS EXPRESS 2024; 15:1668-1681. [PMID: 38495701 PMCID: PMC10942714 DOI: 10.1364/boe.514489] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/29/2023] [Revised: 12/26/2023] [Accepted: 12/27/2023] [Indexed: 03/19/2024]
Abstract
Laser ablation is an effective treatment modality. However, current laser scanners suffer from laser defocusing when scanning targets at different depths in a 3D surgical scene. This study proposes a deep learning-assisted 3D laser steering strategy for minimally invasive surgery that eliminates laser defocusing, increases working distance, and extends scanning range. An optofluidic laser scanner is developed to conduct 3D laser steering. The optofluidic laser scanner has no mechanical moving components, enabling miniature size, lightweight, and low driving voltage. A deep learning-based monocular depth estimation method provides real-time target depth estimation so that the focal length of the laser scanner can be adjusted for laser focusing. Simulations and experiments indicate that the proposed method can significantly increase the working distance and maintain laser focusing while performing 2D laser steering, demonstrating the potential for application in minimally invasive surgery.
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Affiliation(s)
- Chunqi Zhang
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Ruofeng Wei
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Hangjie Mo
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Yujia Zhai
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
| | - Dong Sun
- Department of Biomedical Engineering, City University of Hong Kong, Hong Kong SAR, 999077, China
- Center of Robotics and Automation, Shenzhen Research Institute, Shenzhen, Guangdong, 518000, China
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5
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Abdelaziz MEMK, Zhao J, Gil Rosa B, Lee HT, Simon D, Vyas K, Li B, Koguna H, Li Y, Demircali AA, Uvet H, Gencoglan G, Akcay A, Elriedy M, Kinross J, Dasgupta R, Takats Z, Yeatman E, Yang GZ, Temelkuran B. Fiberbots: Robotic fibers for high-precision minimally invasive surgery. SCIENCE ADVANCES 2024; 10:eadj1984. [PMID: 38241380 PMCID: PMC10798568 DOI: 10.1126/sciadv.adj1984] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/12/2023] [Accepted: 12/20/2023] [Indexed: 01/21/2024]
Abstract
Precise manipulation of flexible surgical tools is crucial in minimally invasive surgical procedures, necessitating a miniature and flexible robotic probe that can precisely direct the surgical instruments. In this work, we developed a polymer-based robotic fiber with a thermal actuation mechanism by local heating along the sides of a single fiber. The fiber robot was fabricated by highly scalable fiber drawing technology using common low-cost materials. This low-profile (below 2 millimeters in diameter) robotic fiber exhibits remarkable motion precision (below 50 micrometers) and repeatability. We developed control algorithms coupling the robot with endoscopic instruments, demonstrating high-resolution in situ molecular and morphological tissue mapping. We assess its practicality and safety during in vivo laparoscopic surgery on a porcine model. High-precision motion of the fiber robot delivered endoscopically facilitates the effective use of cellular-level intraoperative tissue identification and ablation technologies, potentially enabling precise removal of cancer in challenging surgical sites.
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Affiliation(s)
- Mohamed E. M. K. Abdelaziz
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
- Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK
| | - Jinshi Zhao
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
- Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
| | - Bruno Gil Rosa
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
- Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK
| | - Hyun-Taek Lee
- Department of Mechanical Engineering, Inha University, Incheon 22212, South Korea
| | - Daniel Simon
- Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
- The Rosalind Franklin Institute, Didcot OX11 0QS, UK
| | - Khushi Vyas
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
- Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK
| | - Bing Li
- The UK DRI Care Research and Technology Centre, Department of Brain Science, Imperial College London, London W12 0MN, UK
- Institute for Materials Discovery, University College London, London WC1H 0AJ, UK
| | - Hanifa Koguna
- Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
| | - Yue Li
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
| | - Ali Anil Demircali
- Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
| | - Huseyin Uvet
- Department of Mechatronics Engineering, Faculty of Engineering, Yildiz Technical University, Istanbul 34349, Turkey
| | - Gulsum Gencoglan
- Department of Dermatology and Venereology, Liv Hospital Vadistanbul, Istanbul 34396, Turkey
- Department of Skin and Venereal Diseases, Faculty of Medicine, Istinye University, Istanbul 34010, Turkey
| | - Arzu Akcay
- Department of Pathology, Faculty of Medicine, Yeni Yüzyıl University, Istanbul 34010, TR
- Pathology Laboratory, Atakent Hospital, Acibadem Mehmet Ali Aydinlar University, Istanbul 34303, TR
| | - Mohamed Elriedy
- Anesthesiology, University Hospitals of Derby and Burton, Derby, DE22 3NE, UK
| | - James Kinross
- Department of Surgery and Cancer, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
| | - Ranan Dasgupta
- Department of Urology, Imperial College Healthcare NHS Trust, Charing Cross Hospital, London W6 8RF, UK
| | - Zoltan Takats
- Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
- The Rosalind Franklin Institute, Didcot OX11 0QS, UK
| | - Eric Yeatman
- Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London SW7 2AZ, UK
| | - Guang-Zhong Yang
- Institute of Medical Robots, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Burak Temelkuran
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London SW7 2AZ, UK
- Department of Metabolism, Digestion and Reproduction, Faculty of Medicine, Imperial College London, London SW7 2AZ, UK
- The Rosalind Franklin Institute, Didcot OX11 0QS, UK
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6
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Fan Y, Xu L, Liu S, Li J, Xia J, Qin X, Li Y, Gao T, Tang X. The State-of-the-Art and Perspectives of Laser Ablation for Tumor Treatment. CYBORG AND BIONIC SYSTEMS 2024; 5:0062. [PMID: 38188984 PMCID: PMC10769065 DOI: 10.34133/cbsystems.0062] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Accepted: 09/21/2023] [Indexed: 01/09/2024] Open
Abstract
Tumors significantly impact individuals' physical well-being and quality of life. With the ongoing advancements in optical technology, information technology, robotic technology, etc., laser technology is being increasingly utilized in the field of tumor treatment, and laser ablation (LA) of tumors remains a prominent area of research interest. This paper presents an overview of the recent progress in tumor LA therapy, with a focus on the mechanisms and biological effects of LA, commonly used ablation lasers, image-guided LA, and robotic-assisted LA. Further insights and future prospects are discussed in relation to these aspects, and the paper proposed potential future directions for the development of tumor LA techniques.
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Affiliation(s)
- Yingwei Fan
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Liancheng Xu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Shuai Liu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Jialu Xia
- School of Materials Science and Engineering, Hefei University of Technology, Hefei 230009, China
| | - Xingping Qin
- John B. Little Center for Radiation Sciences, Harvard TH Chan School of Public Health, Boston, MA 02115, USA
| | - Yafeng Li
- China Electronics Harvest Technology Co. Ltd., China
| | - Tianxin Gao
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xiaoying Tang
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
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7
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Ye M, Zhou Y, Zhao H, Wang X. Magnetic Microrobots with Folate Targeting for Drug Delivery. CYBORG AND BIONIC SYSTEMS 2023; 4:0019. [PMID: 37223549 PMCID: PMC10202387 DOI: 10.34133/cbsystems.0019] [Citation(s) in RCA: 6] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/29/2022] [Accepted: 03/02/2023] [Indexed: 09/02/2023] Open
Abstract
Untethered microrobots can be used for cargo delivery (e.g., drug molecules, stem cells, and genes) targeting designated areas. However, it is not enough to just reach the lesion site, as some drugs can only play the best therapeutic effect within the cells. To this end, folic acid (FA) was introduced into microrobots in this work as a key to mediate endocytosis of drugs into cells. The microrobots here were fabricated with biodegradable gelatin methacryloyl (GelMA) and modified with magnetic metal-organic framework (MOF). The porous structure of MOF and the hydrogel network of polymerized GelMA were used for the loading of enough FA and anticancer drug doxorubicin (DOX) respectively. Utilizing the magnetic property of magnetic MOF, these microrobots can gather around the lesion site with the navigation of magnetic fields. The combination effects of FA targeting and magnetic navigation substantially improve the anticancer efficiency of these microrobots. The result shows that the cancer cells inhibition rate of microrobots with FA can be up to 93%, while that of the ones without FA was only 78%. The introduction of FA is a useful method to improve the drug transportation ability of microrobots, providing a meaningful reference for further research.
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Affiliation(s)
- Min Ye
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Yan Zhou
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Hongyu Zhao
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
| | - Xiaopu Wang
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), The Chinese University of Hong Kong, Shenzhen, Guangdong 518129, China
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8
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Thai MT, Phan PT, Tran HA, Nguyen CC, Hoang TT, Davies J, Rnjak‐Kovacina J, Phan H, Lovell NH, Do TN. Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2205656. [PMID: 36808494 PMCID: PMC10131836 DOI: 10.1002/advs.202205656] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/28/2022] [Revised: 12/26/2022] [Indexed: 06/18/2023]
Abstract
Three-dimensional (3D) bioprinting technology offers great potential in the treatment of tissue and organ damage. Conventional approaches generally rely on a large form factor desktop bioprinter to create in vitro 3D living constructs before introducing them into the patient's body, which poses several drawbacks such as surface mismatches, structure damage, and high contamination along with tissue injury due to transport and large open-field surgery. In situ bioprinting inside a living body is a potentially transformational solution as the body serves as an excellent bioreactor. This work introduces a multifunctional and flexible in situ 3D bioprinter (F3DB), which features a high degree of freedom soft printing head integrated into a flexible robotic arm to deliver multilayered biomaterials to internal organs/tissues. The device has a master-slave architecture and is operated by a kinematic inversion model and learning-based controllers. The 3D printing capabilities with different patterns, surfaces, and on a colon phantom are also tested with different composite hydrogels and biomaterials. The F3DB capability to perform endoscopic surgery is further demonstrated with fresh porcine tissue. The new system is expected to bridge a gap in the field of in situ bioprinting and support the future development of advanced endoscopic surgical robots.
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Affiliation(s)
- Mai Thanh Thai
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Phuoc Thien Phan
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Hien Anh Tran
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Chi Cong Nguyen
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - James Davies
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Jelena Rnjak‐Kovacina
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Hoang‐Phuong Phan
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
- School of Mechanical and Manufacturing EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
| | - Nigel Hamilton Lovell
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Thanh Nho Do
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
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Ma G, Ross W, Codd PJ. N-mirror Robot System for Laser Surgery: A Simulation Study. ... INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS. INTERNATIONAL SYMPOSIUM ON MEDICAL ROBOTICS 2023; 2023:10.1109/ismr57123.2023.10130180. [PMID: 38031532 PMCID: PMC10686368 DOI: 10.1109/ismr57123.2023.10130180] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/01/2023]
Abstract
Automated laser surgery with sensor fusion is an important problem in medical robotics since it requires precise control of mirrors used to steer the laser systems. The propagation of the laser beam should satisfy the geometric constraints of the surgical site but the relation between the number of mirrors and the design of the optical path remains an unsolved problem. Furthermore, different types of surgery (e.g. endoscopic vs open surgery) can require different optical designs with varying number of mirrors to successfully steer the laser beam to the tissue. A generalized method for controlling the laser beam in such systems remains an open research question. This paper proposes an analytical model for a laser-based surgical system with an arbitrary number of mirrors, which is referred as an "N -mirror" robotic system. This system consists of three laser inputs to transmit the laser beam to the tissue surface through N number of mirrors, which can achieve surface scanning, tissue resection and tissue classification separately. For sensor information alignment, the forward and inverse kinematics of the N -mirror robot system are derived and used to calculate the mirror angles for laser steering at the target surface. We propose a system calibration method to determine the laser input configuration that is required in the kinematic modelling. We conduct simulation experiments for a simulated 3-mirror system of an actual robotic laser platform and a 6-mirror simulated robot, both with 3-laser inputs. The simulation experiments for system calibration show results of maximum position offset smaller than 0.127 mm and maximum angle offset smaller than 0.05° for the optimal laser input predictions.
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Affiliation(s)
- Guangshen Ma
- Department of Mechanical Engineering and Materials Science, Duke University
| | - Weston Ross
- Department of Neurosurgery, Duke University Medical Center
| | - Patrick J Codd
- Department of Mechanical Engineering and Materials Science, Duke University
- Department of Neurosurgery, Duke University Medical Center
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10
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Miyoshi Y, Nishimura T, Shimojo Y, Okayama K, Awazu K. Endoscopic image-guided laser treatment system based on fiber bundle laser steering. Sci Rep 2023; 13:2921. [PMID: 36854756 PMCID: PMC9975189 DOI: 10.1038/s41598-023-29392-4] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/14/2022] [Accepted: 02/03/2023] [Indexed: 03/02/2023] Open
Abstract
A miniaturized endoscopic laser system with laser steering has great potential to expand the application of minimally invasive laser treatment for micro-lesions inside narrow organs. The conventional systems require separate optical paths for endoscopic imaging and laser steering, which limits their application inside narrower organs. Herein, we present a novel endoscopic image-guided laser treatment system with a thin tip that can access inside narrow organs. The system uses a single fiber bundle to simultaneously acquire endoscopic images and modulate the laser-irradiated area. The insertion and operation of the system in a narrow space were demonstrated using an artificial vascular model. Repeated laser steering along set targets demonstrated accurate laser irradiation within a root-mean-square error of 28 [Formula: see text]m, and static repeatability such that the laser irradiation position was controlled within a 12 [Formula: see text]m radius of dispersion about the mean trajectory. Unexpected irradiation on the distal irradiated plane due to fiber bundle crosstalk was reduced by selecting the appropriate laser input diameter. The laser steering trajectory spatially controlled the photothermal effects, vaporization, and coagulation of chicken liver tissue. This novel system achieves minimally invasive endoscopic laser treatment with high lesion-selectivity in narrow organs, such as the peripheral lung and coronary arteries.
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Affiliation(s)
- Yuto Miyoshi
- Graduate School of Engineering, Osaka University, Yamadaoka 2-1, Suita, Osaka, 565-0871, Japan.
| | - Takahiro Nishimura
- Graduate School of Engineering, Osaka University, Yamadaoka 2-1, Suita, Osaka, 565-0871, Japan.
| | - Yu Shimojo
- grid.136593.b0000 0004 0373 3971Graduate School of Engineering, Osaka University, Yamadaoka 2-1, Suita, Osaka 565-0871 Japan
| | - Keita Okayama
- grid.136593.b0000 0004 0373 3971Graduate School of Medicine, Osaka University, Yamadaoka 2-2, Suita, Osaka 565-0871 Japan ,grid.136593.b0000 0004 0373 3971Global Center for Medical Engineering and Informatics, Osaka University, Yamadaoka 2-2, Suita, Osaka 565-0871 Japan
| | - Kunio Awazu
- grid.136593.b0000 0004 0373 3971Graduate School of Engineering, Osaka University, Yamadaoka 2-1, Suita, Osaka 565-0871 Japan ,grid.136593.b0000 0004 0373 3971Global Center for Medical Engineering and Informatics, Osaka University, Yamadaoka 2-2, Suita, Osaka 565-0871 Japan
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11
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Samatas S, Lintuvuori J. Hydrodynamic Synchronization of Chiral Microswimmers. PHYSICAL REVIEW LETTERS 2023; 130:024001. [PMID: 36706412 DOI: 10.1103/physrevlett.130.024001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/24/2022] [Revised: 11/15/2022] [Accepted: 12/19/2022] [Indexed: 06/18/2023]
Abstract
We study synchronization in bulk suspensions of spherical microswimmers with chiral trajectories using large scale numerics. The model is generic. It corresponds to the lowest order solution of a general model for self-propulsion at low Reynolds numbers, consisting of a nonaxisymmetric rotating source dipole. We show that both purely circular and helical swimmers can spontaneously synchronize their rotation. The synchronized state corresponds to velocity alignment with high orientational order in both the polar and azimuthal directions. Finally, we consider a racemic mixture of helical swimmers where intraspecies synchronization is observed while the system remains as a spatially uniform fluid. Our results demonstrate hydrodynamic synchronization as a natural collective phenomenon for microswimmers with chiral trajectories.
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Affiliation(s)
- Sotiris Samatas
- Univ. Bordeaux, CNRS, LOMA, UMR 5798, F-33400 Talence, France
| | - Juho Lintuvuori
- Univ. Bordeaux, CNRS, LOMA, UMR 5798, F-33400 Talence, France
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12
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Wang Y, Shen J, Handschuh-Wang S, Qiu M, Du S, Wang B. Microrobots for Targeted Delivery and Therapy in Digestive System. ACS NANO 2023; 17:27-50. [PMID: 36534488 DOI: 10.1021/acsnano.2c04716] [Citation(s) in RCA: 13] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Untethered miniature robots enable targeted delivery and therapy deep inside the gastrointestinal tract in a minimally invasive manner. By combining actuation systems and imaging tools, significant progress has been made toward the development of functional microrobots. These robots can be actuated by external fields and fuels while featuring real-time tracking feedback toward certain regions and can perform the therapeutic process by rational exertion of the local environment of the gastrointestinal tract (e.g., pH, enzyme). Compared with conventional surgical tools, such as endoscopic devices and catheters, miniature robots feature minimally invasive diagnosis and treatment, multifunctionality, high safety and adaptivity, embodied intelligence, and easy access to tortuous and narrow lumens. In addition, the active motion of microrobots enhances local penetration and retention of drugs in tissues compared to common passive oral drug delivery. Based on the dissimilar microenvironments in the various sections of the gastrointestinal tract, this review introduces the advances of miniature robots for minimally invasive targeted delivery and therapy of diseases along the gastrointestinal tract. The imaging modalities for the tracking and their application scenarios are also discussed. We finally evaluate the challenges and barriers that retard their applications and hint on future research directions in this field.
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Affiliation(s)
- Yun Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Jie Shen
- Shenzhen Key Laboratory of Spine Surgery, Department of Spine Surgery, Peking University Shenzhen Hospital, Shenzhen518036, P.R. China
| | - Stephan Handschuh-Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
| | - Ming Qiu
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Shiwei Du
- Department of Neurosurgery, South China Hospital of Shenzhen University, Shenzhen518111, P.R. China
| | - Ben Wang
- College of Chemistry and Environmental Engineering, Shenzhen University, Shenzhen518055, P.R. China
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13
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Chen M, Li P, Wang R, Xiang Y, Huang Z, Yu Q, He M, Liu J, Wang J, Su M, Zhang M, Jian A, Ouyang J, Zhang C, Li J, Dong M, Zeng S, Wu J, Hong P, Hou C, Zhou N, Zhang D, Zhou H, Tao G. Multifunctional Fiber-Enabled Intelligent Health Agents. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200985. [PMID: 35820163 DOI: 10.1002/adma.202200985] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/29/2022] [Revised: 03/31/2022] [Indexed: 06/15/2023]
Abstract
The application of wearable devices is promoting the development toward digitization and intelligence in the field of health. However, the current smart devices centered on human health have disadvantages such as weak perception, high interference degree, and unfriendly interaction. Here, an intelligent health agent based on multifunctional fibers, with the characteristics of autonomy, activeness, intelligence, and perceptibility enabling health services, is proposed. According to the requirements for healthcare in the medical field and daily life, four major aspects driven by intelligent agents, including health monitoring, therapy, protection, and minimally invasive surgery, are summarized from the perspectives of materials science, medicine, and computer science. The function of intelligent health agents is realized through multifunctional fibers as sensing units and artificial intelligence technology as a cognitive engine. The structure, characteristics, and performance of fibers and analysis systems and algorithms are reviewed, while discussing future challenges and opportunities in healthcare and medicine. Finally, based on the above four aspects, future scenarios related to health protection of a person's life are presented. Intelligent health agents will have the potential to accelerate the realization of precision medicine and active health.
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Affiliation(s)
- Min Chen
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Pan Li
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Rui Wang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Yuanzhuo Xiang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Zhiheng Huang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Qiao Yu
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Muyao He
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jia Liu
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jiaxi Wang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Minyu Su
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Manni Zhang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Aijia Jian
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jingyu Ouyang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Chenxi Zhang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jing Li
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Mengxue Dong
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Computer Science and Technology, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Shaoning Zeng
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Jiawei Wu
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Ping Hong
- Beijing Sport University, Beijing, 100091, P. R. China
| | - Chong Hou
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- School of Optics and Electronic Information, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Ning Zhou
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- Tongji Medical College, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Dingyu Zhang
- Hubei Provincial Health and Health Committee, Wuhan, Hubei, 430015, P. R. China
| | - Huamin Zhou
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
| | - Guangming Tao
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China
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14
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Chiluisa AJ, Pacheco NE, Do HS, Tougas RM, Minch EV, Mihaleva R, Shen Y, Liu Y, Carroll TL, Fichera L. Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds. PROCEEDINGS OF THE ... IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2022; 2022:427-434. [PMID: 36711433 PMCID: PMC9875830 DOI: 10.1109/iros47612.2022.9981202] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/28/2022]
Abstract
This paper reports the design, construction, and experimental validation of a novel hand-held robot for in-office laser surgery of the vocal folds. In-office endoscopic laser surgery is an emerging trend in Laryngology: It promises to deliver the same patient outcomes of traditional surgical treatment (i.e., in the operating room), at a fraction of the cost. Unfortunately, office procedures can be challenging to perform; the optical fibers used for laser delivery can only emit light forward in a line-of-sight fashion, which severely limits anatomical access. The robot we present in this paper aims to overcome these challenges. The end effector of the robot is a steerable laser fiber, created through the combination of a thin optical fiber (ϕ 0.225 mm) with a tendon-actuated Nickel-Titanium notched sheath that provides bending. This device can be seamlessly used with most commercially available endoscopes, as it is sufficiently small (ϕ 1.1 mm) to pass through a working channel. To control the fiber, we propose a compact actuation unit that can be mounted on top of the endoscope handle, so that, during a procedure, the operating physician can operate both the endoscope and the steerable fiber with a single hand. We report simulation and phantom experiments demonstrating that the proposed device substantially enhances surgical access compared to current clinical fibers.
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Affiliation(s)
- Alex J Chiluisa
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Nicholas E Pacheco
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Hoang S Do
- Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Ryan M Tougas
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Emily V Minch
- Department of Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Rositsa Mihaleva
- Department of Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Yao Shen
- Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Yuxiang Liu
- Department of Mechanical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
| | - Thomas L Carroll
- Department of Otolaryngology-Head and Neck Surgery, Harvard Medical School, Boston, MA 02115, USA
| | - Loris Fichera
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA 01609, USA
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15
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Atikian HA, Sinclair N, Latawiec P, Xiong X, Meesala S, Gauthier S, Wintz D, Randi J, Bernot D, DeFrances S, Thomas J, Roman M, Durrant S, Capasso F, Lončar M. Diamond mirrors for high-power continuous-wave lasers. Nat Commun 2022; 13:2610. [PMID: 35545622 PMCID: PMC9095672 DOI: 10.1038/s41467-022-30335-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/19/2021] [Accepted: 04/26/2022] [Indexed: 12/02/2022] Open
Abstract
High-power continuous-wave (CW) lasers are used in a variety of areas including industry, medicine, communications, and defense. Yet, conventional optics, which are based on multi-layer coatings, are damaged when illuminated by high-power CW laser light, primarily due to thermal loading. This hampers the effectiveness, restricts the scope and utility, and raises the cost and complexity of high-power CW laser applications. Here we demonstrate monolithic and highly reflective mirrors that operate under high-power CW laser irradiation without damage. In contrast to conventional mirrors, ours are realized by etching nanostructures into the surface of single-crystal diamond, a material with exceptional optical and thermal properties. We measure reflectivities of greater than 98% and demonstrate damage-free operation using 10 kW of CW laser light at 1070 nm, focused to a spot of 750 μm diameter. In contrast, we observe damage to a conventional dielectric mirror when illuminated by the same beam. Our results initiate a new category of optics that operate under extreme conditions, which has potential to improve or create new applications of high-power lasers. Mirrors that demonstrate 98% reflectivity and withstand 10 kilowatts of focused continuous-wave laser light are created by nanoscale fabrication of single-crystal diamond. The work finds applications in medicine, defence, industry, and communications.
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Affiliation(s)
- Haig A Atikian
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA
| | - Neil Sinclair
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA.,Division of Physics, Mathematics and Astronomy, and Alliance for Quantum Technologies (AQT), California Institute of Technology, Pasadena, CA, 91125, USA
| | - Pawel Latawiec
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA
| | - Xiao Xiong
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA.,Key Laboratory of Quantum Information and Synergetic Innovation Center of Quantum Information and Quantum Physics, University of Science and Technology of China, Hefei, Anhui, 230026, China
| | - Srujan Meesala
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA
| | - Scarlett Gauthier
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA
| | - Daniel Wintz
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA
| | - Joseph Randi
- Pennsylvania State University Applied Research Laboratory, Electro-Optics Center, Freeport, PA, 16229, USA
| | - David Bernot
- Pennsylvania State University Applied Research Laboratory, Electro-Optics Center, Freeport, PA, 16229, USA
| | - Sage DeFrances
- Pennsylvania State University Applied Research Laboratory, Electro-Optics Center, Freeport, PA, 16229, USA
| | - Jeffrey Thomas
- Pennsylvania State University Applied Research Laboratory, Electro-Optics Center, Freeport, PA, 16229, USA
| | - Michael Roman
- Laser Technology and Analysis Branch, Naval Surface Warfare Center, Dahlgren Division, Dahlgren, VA, 22448, USA
| | - Sean Durrant
- Laser Technology and Analysis Branch, Naval Surface Warfare Center, Dahlgren Division, Dahlgren, VA, 22448, USA
| | - Federico Capasso
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA
| | - Marko Lončar
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 01238, USA.
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16
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Ma Y, Luo G, He S, Chen Z, Su R, Ma P, Zhou P, Si L. Cantilevered adaptive fiber-optics collimator based on piezoelectric bimorph actuators. APPLIED OPTICS 2022; 61:3195-3200. [PMID: 35471298 DOI: 10.1364/ao.454250] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/20/2022] [Accepted: 03/21/2022] [Indexed: 06/14/2023]
Abstract
A novel, to the best of our knowledge, cantilever construction design of an adaptive fiber-optics collimator (AFOC) based on piezoelectric bimorph actuators for tip/tilt control is introduced. With this new cantilever structure, an AFOC with a diameter of only 6 mm was developed, and the output laser beam deviation angle and resonance frequency of the device were measured. The experimental results show that this new AFOC can provide more than 1 mrad deflection angle at a 20 V driving voltage, and the first resonance frequency is about 500 Hz. Further, in order to verify whether the cantilever structure can be used in a high-power fiber collimator, a high-power X-Y positioner with an 8 mm diameter fiber end cap was developed. The experimental results show that the high-power X-Y positioner can output more than 2 kW laser power and provide about 330 µm displacement of the fiber end cap in the X direction and about 770 µm in the Y direction at a 150 V driving voltage.
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17
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Fan Y, Ma Q, Li M, Luan D, Kang H. Quantitative investigation of laser ablation based on real-time temperature variations and OCT images for laser treatment applications. Lasers Surg Med 2021; 54:459-473. [PMID: 34779006 DOI: 10.1002/lsm.23491] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/19/2021] [Revised: 10/03/2021] [Accepted: 11/01/2021] [Indexed: 12/28/2022]
Abstract
BACKGROUND AND OBJECTIVE Lasers are widely employed in clinical applications. In vivo monitoring of real-time information about different-wavelength laser surgeries would provide important surgical feedback for surgeons or clinical therapy instruments. However, the quantitative effect of laser ablation or vaporization still needs to be further explored and investigated. Here, we investigate and quantitatively evaluate the ablation variations and morphological changes of two laser ablation models: point- and sweeping-based models. METHODS An infrared thermal imager was used to monitor the temperature variations, and curve fitting was used to build the relationship between the laser radiation duration/sweeping speed and quantitative parameters of the ablated areas. Optical coherence tomography (OCT) images were used to visualize the inner structure and evaluate the depth of the ablated craters. Optical attenuation coefficients (OACs) were computed to characterize the normal and ablated tissues. RESULTS The results demonstrated that there was a good linear relationship between radiation duration and temperature variation. Similarly, a linear relationship was observed between the sweeping speed and quantitative parameters of craters or scratches (width and depth). The mean OAC of normal tissues was significantly distinguished from the mean OACs of the ablated craters or scratches. CONCLUSION Laser ablation was investigated based on a quantitative parameter analysis, thermal detection, and OCT imaging, and the results successfully demonstrated that there is a linear relationship between the laser parameters and quantitative parameters of the ablated tissues under the current settings. Such technology could be used to provide quantitative solutions for exploring the laser-tissue biological effect and improve the performance of medical image-guided laser ablation in the future.
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Affiliation(s)
- Yingwei Fan
- Institute of Engineering Medicine, Beijing Institute of Technology, Beijing, China
| | - Qiong Ma
- Beijing Institute of Radiation Medicine, Beijing, China
| | - Mengsha Li
- Beijing Institute of Radiation Medicine, Beijing, China
| | - Dian Luan
- Beijing Institute of Radiation Medicine, Beijing, China
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18
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Mattos LS, Acemoglu A, Geraldes A, Laborai A, Schoob A, Tamadazte B, Davies B, Wacogne B, Pieralli C, Barbalata C, Caldwell DG, Kundrat D, Pardo D, Grant E, Mora F, Barresi G, Peretti G, Ortiz J, Rabenorosoa K, Tavernier L, Pazart L, Fichera L, Guastini L, Kahrs LA, Rakotondrabe M, Andreff N, Deshpande N, Gaiffe O, Renevier R, Moccia S, Lescano S, Ortmaier T, Penza V. μRALP and Beyond: Micro-Technologies and Systems for Robot-Assisted Endoscopic Laser Microsurgery. Front Robot AI 2021; 8:664655. [PMID: 34568434 PMCID: PMC8455830 DOI: 10.3389/frobt.2021.664655] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2021] [Accepted: 07/14/2021] [Indexed: 01/05/2023] Open
Abstract
Laser microsurgery is the current gold standard surgical technique for the treatment of selected diseases in delicate organs such as the larynx. However, the operations require large surgical expertise and dexterity, and face significant limitations imposed by available technology, such as the requirement for direct line of sight to the surgical field, restricted access, and direct manual control of the surgical instruments. To change this status quo, the European project μRALP pioneered research towards a complete redesign of current laser microsurgery systems, focusing on the development of robotic micro-technologies to enable endoscopic operations. This has fostered awareness and interest in this field, which presents a unique set of needs, requirements and constraints, leading to research and technological developments beyond μRALP and its research consortium. This paper reviews the achievements and key contributions of such research, providing an overview of the current state of the art in robot-assisted endoscopic laser microsurgery. The primary target application considered is phonomicrosurgery, which is a representative use case involving highly challenging microsurgical techniques for the treatment of glottic diseases. The paper starts by presenting the motivations and rationale for endoscopic laser microsurgery, which leads to the introduction of robotics as an enabling technology for improved surgical field accessibility, visualization and management. Then, research goals, achievements, and current state of different technologies that can build-up to an effective robotic system for endoscopic laser microsurgery are presented. This includes research in micro-robotic laser steering, flexible robotic endoscopes, augmented imaging, assistive surgeon-robot interfaces, and cognitive surgical systems. Innovations in each of these areas are shown to provide sizable progress towards more precise, safer and higher quality endoscopic laser microsurgeries. Yet, major impact is really expected from the full integration of such individual contributions into a complete clinical surgical robotic system, as illustrated in the end of this paper with a description of preliminary cadaver trials conducted with the integrated μRALP system. Overall, the contribution of this paper lays in outlining the current state of the art and open challenges in the area of robot-assisted endoscopic laser microsurgery, which has important clinical applications even beyond laryngology.
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Affiliation(s)
| | | | | | - Andrea Laborai
- Department of Otorhinolaryngology, Guglielmo da Saliceto Hospital, Piacenza, Italy
| | | | - Brahim Tamadazte
- Institut des Systèmes Intelligents et de Robotique, Sorbonne Université, CNRS, Paris, France
| | | | - Bruno Wacogne
- FEMTO-ST Institute, Univ. Bourgogne Franche-Comte, CNRS, Besançon, France.,Centre Hospitalier Régional Universitaire, Besançon, France
| | - Christian Pieralli
- FEMTO-ST Institute, Univ. Bourgogne Franche-Comte, CNRS, Besançon, France
| | - Corina Barbalata
- Mechanical and Industrial Engineering Department, Louisiana State University, Baton Rouge, LA, United States
| | | | | | - Diego Pardo
- Istituto Italiano di Tecnologia, Genoa, Italy
| | - Edward Grant
- Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC, United States
| | - Francesco Mora
- Clinica Otorinolaringoiatrica, IRCCS Policlinico San Martino, Genoa, Italy.,Dipartimento di Scienze Chirurgiche e Diagnostiche Integrate, Università Degli Studi di Genova, Genoa, Italy
| | | | - Giorgio Peretti
- Clinica Otorinolaringoiatrica, IRCCS Policlinico San Martino, Genoa, Italy.,Dipartimento di Scienze Chirurgiche e Diagnostiche Integrate, Università Degli Studi di Genova, Genoa, Italy
| | - Jesùs Ortiz
- Istituto Italiano di Tecnologia, Genoa, Italy
| | - Kanty Rabenorosoa
- FEMTO-ST Institute, Univ. Bourgogne Franche-Comte, CNRS, Besançon, France
| | | | - Lionel Pazart
- Centre Hospitalier Régional Universitaire, Besançon, France
| | - Loris Fichera
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, United States
| | - Luca Guastini
- Clinica Otorinolaringoiatrica, IRCCS Policlinico San Martino, Genoa, Italy.,Dipartimento di Scienze Chirurgiche e Diagnostiche Integrate, Università Degli Studi di Genova, Genoa, Italy
| | - Lüder A Kahrs
- Department of Mathematical and Computational Sciences, University of Toronto, Mississauga, ON, Canada
| | - Micky Rakotondrabe
- National School of Engineering in Tarbes, University of Toulouse, Tarbes, France
| | - Nicolas Andreff
- FEMTO-ST Institute, Univ. Bourgogne Franche-Comte, CNRS, Besançon, France
| | | | - Olivier Gaiffe
- Centre Hospitalier Régional Universitaire, Besançon, France
| | - Rupert Renevier
- FEMTO-ST Institute, Univ. Bourgogne Franche-Comte, CNRS, Besançon, France
| | - Sara Moccia
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Sergio Lescano
- FEMTO-ST Institute, Univ. Bourgogne Franche-Comte, CNRS, Besançon, France
| | - Tobias Ortmaier
- Institute of Mechatronic Systems, Leibniz Universität Hannover, Garbsen, Germany
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19
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Fang G, Chow MCK, Ho JDL, He Z, Wang K, Ng TC, Tsoi JKH, Chan PL, Chang HC, Chan DTM, Liu YH, Holsinger FC, Chan JYK, Kwok KW. Soft robotic manipulator for intraoperative MRI-guided transoral laser microsurgery. Sci Robot 2021; 6:6/57/eabg5575. [PMID: 34408096 DOI: 10.1126/scirobotics.abg5575] [Citation(s) in RCA: 24] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/15/2021] [Accepted: 07/27/2021] [Indexed: 01/14/2023]
Abstract
Magnetic resonance (MR) imaging (MRI) provides compelling features for the guidance of interventional procedures, including high-contrast soft tissue imaging, detailed visualization of physiological changes, and thermometry. Laser-based tumor ablation stands to benefit greatly from MRI guidance because 3D resection margins alongside thermal distributions can be evaluated in real time to protect critical structures while ensuring adequate resection margins. However, few studies have investigated the use of projection-based lasers like those for transoral laser microsurgery, potentially because dexterous laser steering is required at the ablation site, raising substantial challenges in the confined MRI bore and its strong magnetic field. Here, we propose an MR-safe soft robotic system for MRI-guided transoral laser microsurgery. Owing to its miniature size (Ø12 × 100 mm), inherent compliance, and five degrees of freedom, the soft robot ensures zero electromagnetic interference with MRI and enables safe and dexterous operation within the confined oral and pharyngeal cavities. The laser manipulator is rapidly fabricated with hybrid soft and hard structures and is powered by microvolume (<0.004 milliter) fluid flow to enable laser steering with enhanced stiffness and lowered hysteresis. A learning-based controller accommodates the inherent nonlinear robot actuation, which was validated with laser path-following tests. Submillimeter laser steering accuracy was demonstrated with a mean error < 0.20 mm. MRI compatibility testing demonstrated zero observable image artifacts during robot operation. Ex vivo tissue ablation and a cadaveric head-and-neck trial were carried out under MRI, where we employed MR thermometry to monitor the tissue ablation margin and thermal diffusion intraoperatively.
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Affiliation(s)
- Ge Fang
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Marco C K Chow
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Justin D L Ho
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Zhuoliang He
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - Kui Wang
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China
| | - T C Ng
- Faculty of Dentistry, University of Hong Kong, Hong Kong, China
| | - James K H Tsoi
- Faculty of Dentistry, University of Hong Kong, Hong Kong, China
| | - Po-Ling Chan
- Department of Otorhinolaryngology, Head and Neck Surgery, Chinese University of Hong Kong, Hong Kong, China
| | - Hing-Chiu Chang
- Department of Diagnostic Radiology, University of Hong Kong, Hong Kong, China.,Department of Biomedical Engineering, Chinese University of Hong Kong, Hong Kong, China
| | | | - Yun-Hui Liu
- Department of Mechanical and Automation Engineering, Chinese University of Hong Kong, Hong Kong, China
| | | | - Jason Ying-Kuen Chan
- Department of Otorhinolaryngology, Head and Neck Surgery, Chinese University of Hong Kong, Hong Kong, China.
| | - Ka-Wai Kwok
- Department of Mechanical Engineering, University of Hong Kong, Hong Kong, China.
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Fichera L. Bringing the light inside the body to perform better surgery. Sci Robot 2021; 6:6/50/eabf1523. [PMID: 34043582 DOI: 10.1126/scirobotics.abf1523] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/25/2020] [Accepted: 12/16/2020] [Indexed: 11/02/2022]
Abstract
Miniaturized robotic laser steering opens new horizons for laser microsurgery.
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Affiliation(s)
- Loris Fichera
- Department of Robotics Engineering, Worcester Polytechnic Institute, Worcester, MA, USA.
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