液压逼尿器用于人工膀胱主动排尿。

IF 6.4 2区 计算机科学 Q1 ROBOTICS
Giada Casagrande, Michele Ibrahimi, Federica Semproni, Veronica Iacovacci, Arianna Menciassi
{"title":"液压逼尿器用于人工膀胱主动排尿。","authors":"Giada Casagrande,&nbsp;Michele Ibrahimi,&nbsp;Federica Semproni,&nbsp;Veronica Iacovacci,&nbsp;Arianna Menciassi","doi":"10.1089/soro.2021.0140","DOIUrl":null,"url":null,"abstract":"<p><p>The gold standard treatment for bladder cancer is radical cystectomy that implies bladder removal coupled to urinary diversions. Despite the serious complications and the impossibility of controlled active voiding, bladder substitution with artificial systems is a challenge and cannot represent a real option, yet. In this article, we present hydraulic artificial detrusor prototypes to control and drive the voiding of an artificial bladder (AB). These prototypes rely on two actuator designs (<i>origami</i> and <i>bellows</i>) based either on negative or positive operating pressure, to be combined with an AB structure. Based on the bladder geometry and size, we optimized the actuators in terms of contraction/expansion performances, minimizing the liquid volume required for actuation and exploring different actuator arrangements to maximize the voiding efficiency. To operate the actuators, an <i>ad hoc</i> electrohydraulic circuit was developed for transferring liquid between the actuators and a reservoir, both of them intended to be implanted. The AB, actuators, and reservoir were fabricated with biocompatible flexible thermoplastic materials by a heat-sealing process. We assessed the voiding efficiency with benchtop experiments by varying the actuator type and arrangement at different simulated patient positions (horizontal, 45° tilted, and vertical) to identify the optimal configuration and actuation strategy. The most efficient solution relies on two bellows actuators anchored to the AB. This artificial detrusor design resulted in a voiding efficiency of about 99%, 99%, and 89%, in the vertical, 45° tilted, and horizontal positions, respectively. The relative voiding time was reduced by about 17, 24, and 55 s compared with the unactuated bladder.</p>","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"269-279"},"PeriodicalIF":6.4000,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Hydraulic Detrusor for Artificial Bladder Active Voiding.\",\"authors\":\"Giada Casagrande,&nbsp;Michele Ibrahimi,&nbsp;Federica Semproni,&nbsp;Veronica Iacovacci,&nbsp;Arianna Menciassi\",\"doi\":\"10.1089/soro.2021.0140\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>The gold standard treatment for bladder cancer is radical cystectomy that implies bladder removal coupled to urinary diversions. Despite the serious complications and the impossibility of controlled active voiding, bladder substitution with artificial systems is a challenge and cannot represent a real option, yet. In this article, we present hydraulic artificial detrusor prototypes to control and drive the voiding of an artificial bladder (AB). These prototypes rely on two actuator designs (<i>origami</i> and <i>bellows</i>) based either on negative or positive operating pressure, to be combined with an AB structure. Based on the bladder geometry and size, we optimized the actuators in terms of contraction/expansion performances, minimizing the liquid volume required for actuation and exploring different actuator arrangements to maximize the voiding efficiency. To operate the actuators, an <i>ad hoc</i> electrohydraulic circuit was developed for transferring liquid between the actuators and a reservoir, both of them intended to be implanted. The AB, actuators, and reservoir were fabricated with biocompatible flexible thermoplastic materials by a heat-sealing process. We assessed the voiding efficiency with benchtop experiments by varying the actuator type and arrangement at different simulated patient positions (horizontal, 45° tilted, and vertical) to identify the optimal configuration and actuation strategy. The most efficient solution relies on two bellows actuators anchored to the AB. This artificial detrusor design resulted in a voiding efficiency of about 99%, 99%, and 89%, in the vertical, 45° tilted, and horizontal positions, respectively. The relative voiding time was reduced by about 17, 24, and 55 s compared with the unactuated bladder.</p>\",\"PeriodicalId\":48685,\"journal\":{\"name\":\"Soft Robotics\",\"volume\":\"10 2\",\"pages\":\"269-279\"},\"PeriodicalIF\":6.4000,\"publicationDate\":\"2023-04-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Soft Robotics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1089/soro.2021.0140\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Soft Robotics","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1089/soro.2021.0140","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 4

摘要

膀胱癌的金标准治疗是根治性膀胱切除术,这意味着膀胱切除与尿改道相结合。尽管有严重的并发症和不可能控制主动排尿,人工系统膀胱替代是一个挑战,不能代表一个真正的选择,然而。在本文中,我们提出了液压人工逼尿器原型来控制和驱动人工膀胱(AB)的排尿。这些原型依赖于基于负或正操作压力的两种执行器设计(折纸和波纹管),与AB结构相结合。根据气囊的几何形状和尺寸,我们优化了执行器的收缩/膨胀性能,最大限度地减少了执行器所需的液体体积,并探索了不同的执行器布置,以最大限度地提高排尿效率。为了操作执行器,开发了一个特殊的电液回路,用于在执行器和蓄水池之间传递液体,这两个蓄水池都打算被植入。AB、致动器和贮液器由生物相容性柔性热塑性材料通过热封工艺制成。我们通过在不同的模拟患者体位(水平、45°倾斜和垂直)上改变致动器的类型和排列来评估台式实验的排尿效率,以确定最佳配置和致动策略。最有效的解决方案是将两个波纹管执行器固定在AB上。这种人工逼尿器设计在垂直、45°倾斜和水平位置的排尿效率分别为99%、99%和89%。与未驱动膀胱相比,相对排尿时间分别缩短了17、24和55 s。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Hydraulic Detrusor for Artificial Bladder Active Voiding.

The gold standard treatment for bladder cancer is radical cystectomy that implies bladder removal coupled to urinary diversions. Despite the serious complications and the impossibility of controlled active voiding, bladder substitution with artificial systems is a challenge and cannot represent a real option, yet. In this article, we present hydraulic artificial detrusor prototypes to control and drive the voiding of an artificial bladder (AB). These prototypes rely on two actuator designs (origami and bellows) based either on negative or positive operating pressure, to be combined with an AB structure. Based on the bladder geometry and size, we optimized the actuators in terms of contraction/expansion performances, minimizing the liquid volume required for actuation and exploring different actuator arrangements to maximize the voiding efficiency. To operate the actuators, an ad hoc electrohydraulic circuit was developed for transferring liquid between the actuators and a reservoir, both of them intended to be implanted. The AB, actuators, and reservoir were fabricated with biocompatible flexible thermoplastic materials by a heat-sealing process. We assessed the voiding efficiency with benchtop experiments by varying the actuator type and arrangement at different simulated patient positions (horizontal, 45° tilted, and vertical) to identify the optimal configuration and actuation strategy. The most efficient solution relies on two bellows actuators anchored to the AB. This artificial detrusor design resulted in a voiding efficiency of about 99%, 99%, and 89%, in the vertical, 45° tilted, and horizontal positions, respectively. The relative voiding time was reduced by about 17, 24, and 55 s compared with the unactuated bladder.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Soft Robotics
Soft Robotics ROBOTICS-
CiteScore
15.50
自引率
5.10%
发文量
128
期刊介绍: Soft Robotics (SoRo) stands as a premier robotics journal, showcasing top-tier, peer-reviewed research on the forefront of soft and deformable robotics. Encompassing flexible electronics, materials science, computer science, and biomechanics, it pioneers breakthroughs in robotic technology capable of safe interaction with living systems and navigating complex environments, natural or human-made. With a multidisciplinary approach, SoRo integrates advancements in biomedical engineering, biomechanics, mathematical modeling, biopolymer chemistry, computer science, and tissue engineering, offering comprehensive insights into constructing adaptable devices that can undergo significant changes in shape and size. This transformative technology finds critical applications in surgery, assistive healthcare devices, emergency search and rescue, space instrument repair, mine detection, and beyond.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信