Soft Robotic Gastroscope for Low/Middle-Income Countries: Design and Preliminary Validation

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Xuyang Ren;Yu Huan;Martina Finocchiaro;Matteo Cianchetti;Giacomo Lo Secco;Shuxin Wang;Paolo Dario;Anastasios Koulaouzidis;Alberto Arezzo;Gastone Ciuti
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Abstract

To reduce incidence and mortality, screening of the gastric cavity is crucial to diagnose early-stage cancers. Most cases are concentrated in low/middle-income countries (LMICs), where medical resources are limited. In this paper, we propose a miniaturized, disposable, and low-cost soft robotic gastroscope designed for screening in LMICs. The robotic platform is composed of i) a frontal soft-core module, ii) a flexible multi-lumen tether, and iii) an intuitive control handle, to provide a) a 180 deg bending angle, b) a 360 deg axial rotation, and c) linear movements with a 15 mm fine adjustment. Thanks to a single internal bending chamber, the diameter of the soft-core module and the tether are reduced to 7.2 mm and 4.3 mm, respectively. Mechanical performance, operational functionalities, and clinical dependability were successfully evaluated through in-vitro and ex-vivo experiments. In summary, given i) low-cost (i.e., ~25 USD), ii) low invasiveness, iii) high portability, and iv) intuitive control, the disposable soft gastroscope might have considerable clinical potential for widening gastric cancer screening in LMICs.
适用于中低收入国家的软性机器人胃镜:设计和初步验证
为了降低发病率和死亡率,胃腔筛查对于诊断早期癌症至关重要。大多数病例集中在医疗资源有限的中低收入国家。在本文中,我们提出了一种小型化、一次性、低成本的软性机器人胃镜,专为中低收入国家的筛查而设计。该机器人平台由 i) 一个正面软芯模块、ii) 一个灵活的多腔系绳和 iii) 一个直观的控制手柄组成,可提供 a) 180 度弯曲角度、b) 360 度轴向旋转和 c) 15 毫米微调的线性运动。由于只有一个内部弯曲室,软芯模块和系绳的直径分别减小到 7.2 毫米和 4.3 毫米。通过体外和体内实验,成功评估了机械性能、操作功能和临床可靠性。总之,鉴于 i) 低成本(即约 25 美元)、ii) 低侵入性、iii) 高便携性和 iv) 直观控制,一次性软胃镜在扩大低收入和中等收入国家的胃癌筛查范围方面可能具有相当大的临床潜力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
6.80
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