Scholarlink

<p>Intracochlear theranostics, particularly targeted drug delivery and microsampling, offers a promising solution to inner ear diseases. However, specialized medical devices remain limited by a fundamental design challenge imposed by anatomical constraints: balancing miniaturization, dexterity, and perceptive functionality. Here, we present a low–aspect-ratio, dual-segment continuum robot that integrates catheter, endoscopic and instrumental functions. Driven by antagonistic cables, the robot uses a transition-free backbone composed of saddle-shaped joints to achieve a minimum bending radius of 1.9 mm. Dual-segment motion decoupling yields programmable C-/S-shaped configurations, facilitating anatomical navigation. The microneedle, embedded in the central channel, serves as an end-effector with positioning accuracy of 17.9 ± 4.1 μm. Fiber Bragg grating sensors, mounted on the needle, measure axial force to estimate tool-tissue interaction. Validation is performed on cadavers and in vivo animals, demonstrating the feasibility of a transcanal, atraumatic robotic paradigm. Thus, this system provides a practical and accessible approach for early diagnosis and treatment, helping extend precision medicine to underserved areas.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年4月24日

查看全文
  • Haiming Li,
  • Peiyuan Gao,
  • Haoyue Tan,
  • Haotian Li,
  • Haifeng Zhu,
  • Mengyuan Jiang,
  • Yuting Ni,
  • Yandi He,
  • Junhong Huang,
  • Yue Zhu,
  • Jiahui Yang,
  • Chunbo Wang,
  • Bin Liu,
  • Fuxin Du,
  • Yanhe Zhu,
  • Huijuan Dong,
  • He Zhang,
  • Tianxue Zhang,
  • Huan Jia,
  • Hao Wu,
  • Jie Zhao

摘要

Intracochlear theranostics, particularly targeted drug delivery and microsampling, offers a promising solution to inner ear diseases. However, specialized medical devices remain limited by a fundamental design challenge imposed by anatomical constraints: balancing miniaturization, dexterity, and perceptive functionality. Here, we present a low–aspect-ratio, dual-segment continuum robot that integrates catheter, endoscopic and instrumental functions. Driven by antagonistic cables, the robot uses a transition-free backbone composed of saddle-shaped joints to achieve a minimum bending radius of 1.9 mm. Dual-segment motion decoupling yields programmable C-/S-shaped configurations, facilitating anatomical navigation. The microneedle, embedded in the central channel, serves as an end-effector with positioning accuracy of 17.9 ± 4.1 μm. Fiber Bragg grating sensors, mounted on the needle, measure axial force to estimate tool-tissue interaction. Validation is performed on cadavers and in vivo animals, demonstrating the feasibility of a transcanal, atraumatic robotic paradigm. Thus, this system provides a practical and accessible approach for early diagnosis and treatment, helping extend precision medicine to underserved areas.