Atwya, M., Kavak, C., Alisse, E. et al. (2 more authors) (2021) Flexible and expandable robot for tissue therapies - Modeling and design. IEEE Transactions on Biomedical Engineering, 68 (2). pp. 568-578. ISSN 0018-9294
Abstract
Objective: Implantable technologies should be mechanically compliant with the tissue in order to maximize tissue quality and reduce inflammation during tissue reconstruction. We introduce the development of a flexible and expandable implantable robotic (FEIR) device for the regenerative elongation of tubular tissue by applying controlled and precise tension to the target tissue while minimizing the forces produced on the surrounding tissue. Methods: We introduce a theoretical framework based on iterative beam theory static analysis for the design of an expandable robot with a flexible rack. The model takes into account the geometry and mechanics of the rack to determine a trade-off between its stiffness and capability to deliver the required tissue tension force. We empirically validate this theory on the benchtop and with biological tissue. Results: We show that FEIR can apply the required therapeutical forces on the tissue while reducing the amount of force it applies to the surrounding tissues as well as reducing self-damage. Conclusion: The study demonstrates a method to develop robots that can change size and shape to fit their dynamic environment while maintaining the precision and delicacy necessary to manipulate tissue by traction. Significance: The method is relevant to designers of implantable technologies. The robot is a precursor medical device for the treatment of Long-Gap Esophageal Atresia and Short Bowel Syndrome.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Flexible robot; expandable robot; robotic implants |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number EPSRC CENTRE FOR INNOVATIVE MANUFACTURING IN LARGE-AREA ELECTRONICS UNSPECIFIED ENGINEERING AND PHYSICAL SCIENCE RESEARCH COUNCIL EP/S021035/1 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 06 Jul 2020 10:45 |
Last Modified: | 13 Jul 2021 16:27 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/TBME.2020.3007714 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:162703 |