用于高精度微创手术的选择性驱动纤维机器人
Selectively Actuated Fiberbots for High-precision Minimally Invasive Surgery
AI总结：
该研究提出一种电热驱动纤维基机器人，其远端活动段焦耳加热集中，尺寸紧凑可通过内窥镜工作通道，能实现低于100μm的精准操控，可兼容现有内窥镜系统，有望提升微创手术精度。
摘要：
细长器械是微创手术（MIS）的必备工具，但当驱动沿整个器械延伸时，实现远端精准操控会愈发困难。本文提出一种用于微创手术的电热驱动纤维基机器人，其焦耳加热集中在远端活动段。该纤维通过热拉制工艺制备，采用内嵌金属丝实现热驱动，直径1.9mm、长度1.2m，可精准操控手术激光纤维，位置精度低于100μm。该纤维机器人尺寸紧凑，可通过柔性内窥镜的工作通道，且与器械保持机械解耦以实现独立运动。将该机器人纤维与da Vinci器械结合的 phantom 演示，从概念上证明其与现有内窥镜系统的兼容性，可用于临床应用。该机器人纤维可实现精准远端运动，有望通过提升微创手术的精度改善临床结果。
英文摘要：
Long, slender instruments are essential for minimally invasive surgery (MIS), but achieving precise distal manipulation becomes increasingly difficult when actuation extends along the entire instrument. Here, we present an electrothermally actuated fiber-based robot designed for MIS procedures, in which Joule heating is concentrated in the distal active segment. The fiber is fabricated using a thermal drawing process and uses embedded metallic wires for thermal actuation. This robotic fiber, 1.9 mm in diameter and 1.2 m in length, can precisely manipulate surgical laser fibers with positional precision below 100 $μ$m. The compact size of the fiber robot allows it to pass through the working channel of a flexible endoscope, while keeping both devices mechanically uncoupled to allow independent motion. A phantom demonstration combining the robotic fiber with a da Vinci instrument conceptually demonstrated its compatibility with existing endoscopic systems for clinical applications. Our robotic fiber enables precise distal motion and holds the potential to improve clinical outcomes by enhancing precision in MIS procedures.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
