Precise Hybrid-Actuation Robotic Fiber for Enhanced Cervical Disease Treatment
CoRR(2024)
摘要
Treatment for high-grade precancerous cervical lesions and early-stage
cancers, mainly affecting women of reproductive age, often involves
fertility-sparing treatment methods. Commonly used local treatments for
cervical precancers have shown the risk of leaving a positive cancer margin and
engendering subsequent complications according to the precision and depth of
excision. An intra-operative device that allows the careful excision of the
disease while conserving healthy cervical tissue would potentially enhance such
treatment. In this study, we developed a polymer-based robotic fiber measuring
150 mm in length and 1.7 mm in diameter, fabricated using a highly scalable
fiber drawing technique. This robotic fiber utilizes a hybrid actuation
mechanism, combining electrothermal and tendon-driven actuation mechanisms,
thus enabling a maximum motion range of 46 mm from its origin with a sub-100
μm motion precision. We also developed control algorithms for the actuation
methods of this robotic fiber, including predefined path control and
telemanipulation, enabling coarse positioning of the fiber tip to the target
area followed by a precise scan. The combination of a surgical laser fiber with
the robotic fiber allows for high-precision surgical ablation. Additionally, we
conducted experiments using a cervical phantom that demonstrated the robotic
fiber's ability to access and perform high-precision scans, highlighting its
potential for cervical disease treatments and improvement of oncological
outcomes.
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