NATURE
·
2025
·Vol. 647
·期 8091
·889-896
·
IF 48.5
Xue Yaoting,Cao Jiasheng,Feng Tao,Zhang Kaihang,Li Siyang,Hu Jiahao,Guo Haotian,Zhang Jinming,Song Yaoxian,Wang Zhuofan,Wang Lei,Huang Qishan,Zhou Haofei,Zhou Fanghao,Shen Jiliang,Fan Yaowei,Wang Zhe,Li Xinge,Wong Jie-Wei,Chen Zhiwei,Ruan Dongrui,Miao Zhikun,Zhang Bin,Zhou Enjie,Gan Letian,Wang Xuanqi,Cao Ertai,Chen Tong,Zou Weifeng,Zhang Junhui,Lu Haojian,Zhang Qinghai,Liu Song,Dong Huixu,Xiong Shiying,Peng Shuyou,Wong Tuck-Whye,Chen Yuanjie,Li Tiefeng,Chen Mingyu,Yang Xuxu,Yang Wei,Cai Xiujun
Mechanical transmission is essential in force-related activities ranging from the daily tying of shoe laces 1 to sophisticated surgical 2 and robotic operations 3 , 4 . Modern machines and robots typically use complex electronic devices designed to sense and limit force 5 , some of which still face challenges when operating space is limited (for example, in minimally invasive surgeries) 6 or when resources are scarce (for example, operations in remote areas without electricity). Here we describe an alternative slipknot-based mechanical transmission mechanism to control the intelligent operation of both human and robotic systems. Through topological design, slipknot tying and release can encode and deliver force with a consistency of 95.4% in repeating operations, which circumvents the need for additional sensors and controllers. When applied to surgical repair, this mechanism helped inexperienced surgeons to improve their knotting-force precision by 121%, enabling them to perform surgical knots as good as those of experienced surgeons. Moreover, blood supply and tissue healing after surgery were improved. The mechano-intelligence exhibited in slipknots may inspire investigations of knotted structures across multiple length scales. This slipknot-gauged mechanical transmission strategy can be widely deployed, opening up opportunities for resource-limited healthcare, science education and field exploration.
研究领域:
机械工程
·
机器人学
·
生物医学工程
·
手术技术
·
智能材料与结构
✓ 已验证
产品关联
DOI
PubMed
高影响因子
National Science Review
·
2022
·Vol. 9
·期 12
·
IF 23.178
Wei Danyang,Guo Jiajie,Qiu Yuqi,Liu Shaoyu,Mao Jiangyan,Liu Yutian,Chen Zhenbing,Wu Hao,Yin Zhouping
The arrival of surgical robots in high-end medical equipment is a landmark, and the realization of tactile sensation a major challenge in this important cutting-edge research field. Aiming to address this issue, we present ultra-sensitive ionic electronic skin in the form of flexible capacitive pressure sensors, which incorporate multistage bionic microstructures in ion gels for the purpose of monitoring the delicate operations of surgical robots. Significantly, the ionic skin exhibits an ultra-high sensitivity of 9484.3 kPa−1 (<15 kPa), and the sensitivity remains higher than 235 kPa−1 in the wide range of 15–155 kPa. The device has also achieved a detection limit as low as 0.12 Pa or, equivalently, 0.31 mg, fast response within 24 ms, and high robustness (loading/unloading for 5000 cycles without fatigue). The sensor facilitates the challenging task of tele-operated robotic threading, which exceeds the human tactile perception limit when threading a needle. We have also confirmed that ionic skin can be used in robot-assisted invasive surgery, such as incision/resection of tissues and suturing of wounds, providing tactile information to surgeons to improve operation success rates. The flexible ionic skin is capable of conforming to the various shapes of robotic manipulators, thus has great promise for applications in robotic dexterous manipulation, prosthetics and human–machine interfaces.
研究领域:
生物医学工程
·
机器人技术
·
材料科学
·
外科技术
✓ 已验证
DOI
PubMed
高影响因子
危险品化学品经营许可证（带存储）