Stimuli-Responsive Soft Untethered Grippers for Drug Delivery and Robotic Surgery

被引：78

作者：

Ghosh, Arijit ^{[1
]}

Yoon, ChangKyu ^{[2
]}

Ongaro, Federico ^{[3
]}

Scheggi, Stefano ^{[3
]}

Selaru, Florin M. ^{[4
]}

Misra, Sarthak ^{[3
,5
]}

Gracias, David H. ^{[1
,2
]}

机构：

[1] Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore,MD, United States

[2] Materials Science and Engineering, Johns Hopkins University, Baltimore,MD, United States

[3] Surgical Robotics Laboratory, Department of Biomechanical Engineering, MIRA – Institute for Biomedical Technology and Technical Medicine, University of Twente, Enschede, Netherlands

[4] Division of Gastroenterology and Hepatology, Department of Medicine, Johns Hopkins University, Baltimore,MD, United States

[5] Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, Groningen, Netherlands

来源：

Frontiers in Mechanical Engineering | 2017年 / 3卷

基金：

美国国家卫生研究院; 欧盟地平线“2020”;

关键词：

Controlled drug delivery - Functional polymers - Grippers - Histology - Navigation - Robot programming - Robotic surgery - Targeted drug delivery - Tissue;

D O I：

10.3389/fmech.2017.00007

中图分类号：

学科分类号：

摘要：

Untethered microtools that can be precisely navigated into deep in vivo locations are important for clinical procedures pertinent to minimally invasive surgery and targeted drug delivery. In this mini-review, untethered soft grippers are discussed, with an emphasis on a class of autonomous stimuli-responsive gripping soft tools that can be used to excise tissues and release drugs in a controlled manner. The grippers are composed of polymers and hydrogels and are thus compliant to soft tissues. They can be navigated using magnetic fields and controlled by robotic path-planning strategies to carry out tasks like pick-and-place of microspheres and biological materials either with user assistance, or in a fully autonomous manner. It is envisioned that the use of these untethered soft grippers will translate from laboratory experiments to clinical scenarios and the challenges that need to be overcome to make this transition are discussed. © Copyright © 2017 Ghosh, Yoon, Ongaro, Scheggi, Selaru, Misra and Gracias.

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