Ceja Julio Adrian, Rezaeian Saeed, Vélez-Cordero J Rodrigo, Hernández-Cordero Juan, Badie Behnam, Sheng Jun
Department of Mechanical Engineering, University of California Riverside, Riverside, CA 92521 USA.
Autonomous University of San Luis Potosí, San Luis Potosí, Mexico.
Int Symp Med Robot. 2024 Jun;2024. doi: 10.1109/ismr63436.2024.10586060. Epub 2024 Jul 12.
In this paper, we present a robotically steerable laser ablation probe with application to interstitial thermal therapy. Existing laser interstitial thermal therapy (LITT) methods utilize a straight probe to deliver laser energy around the tip or to the side of the tip. These methods are inadequate to provide effective treatment for large, irregularly shaped tumors. Our robotic probe can be manipulated inside soft tissue to perform ablation at multiple locations, thus enabling conformable ablation for large and complicated tumors. Instead of directly firing laser into soft tissue, a Polydimethylsiloxane (PDMS)/Carbon nanoparticles (CNPs) mixture hosts a multi-mode optical fiber at the probe tip to work as a heater when laser is activated to improve the procedural safety. This paper presents the design and fabrication of the robotic ablation probe, simulation of laser thermal transformation using finite element analysis, and experimental studies that characterize the robot motion and heating effects and demonstrate ablation.
在本文中，我们展示了一种可机器人操控的激光消融探头及其在间质热疗中的应用。现有的激光间质热疗（LITT）方法使用直探头将激光能量传递到探头尖端周围或尖端侧面。这些方法不足以对大的、形状不规则的肿瘤进行有效治疗。我们的机器人探头可在软组织内进行操控，以在多个位置进行消融，从而能够对大的复杂肿瘤进行适形消融。不是将激光直接发射到软组织中，而是在探头尖端使用聚二甲基硅氧烷（PDMS）/碳纳米颗粒（CNP）混合物容纳一根多模光纤，当激光激活时作为加热器，以提高手术安全性。本文介绍了机器人消融探头的设计与制造、使用有限元分析对激光热转化的模拟，以及表征机器人运动和加热效果并演示消融的实验研究。
