Project Overview

The Growing Robot project focuses on developing innovative soft robotic systems that utilize the eversion principle for medical applications. These robots can extend their body by inflating and everting their material, allowing them to navigate through complex anatomical pathways with minimal invasiveness. The technology has significant applications in cardiovascular interventions, particularly in Transcatheter Aortic Valve Implantation (TAVI) procedures.

Project Focus Areas:

• Eversion-based soft robotics
• 3D kinematics and quasi-static modeling
• Medical applications in cardiovascular surgery
• Material science for flexible robotic systems
• Minimally invasive surgical techniques

Key Innovation: Eversion Principle

Growing robots operate on a unique eversion mechanism where:

• Inflation: The robot body is pressurized with fluid or gas
• Eversion: Material at the tip unfolds and extends the robot’s length
• Navigation: The robot can traverse narrow and tortuous pathways
• Safety: Minimal contact forces reduce tissue damage risk

This approach enables deployment through complex anatomical structures while maintaining flexibility and safety.

Technical Approach

3D Kinematics Modeling

• Cosserat Rod Models: Used for local coordinate systems
• Complex Kinematic Simulation: Understanding eversion behavior
• Parameter Identification: Factors affecting eversion process
• External Response Analysis: Robot behavior under external forces

Quasi-Static Analysis

• Finite Element Methods: Advanced computational modeling
• Combined Modeling: Integration of kinematics and statics
• Tip Behavior Prediction: Understanding robot deployment
• SOFA Framework Implementation: Real-time simulation capabilities

Material Innovation

• Semi-Extensible Materials: Enhanced flexibility and compliance
• Silicone-Coated Ripstop Nylon: Base material for robot body
• Material Property Optimization: Compliance studies for various materials
• Biocompatible Solutions: Safe materials for medical applications

Medical Applications

TAVI (Transcatheter Aortic Valve Implantation)

Growing robots offer revolutionary advantages for TAVI procedures:

• Less Invasive Access: Deployment from inside cardiovascular system
• Patient-Specific Adaptation: Flexibility for unique anatomical morphologies
• Reduced Perforation Risk: Soft deployment mechanism
• Stenosis Navigation: Capability to traverse narrow anatomical areas
• Precision Positioning: Accurate valve placement

Other Medical Applications

• Endoscopic Procedures: Navigation through GI tract
• Vascular Interventions: Catheter-based treatments
• Surgical Inspection: Access to hard-to-reach anatomical areas
• Archaeological Applications: Non-medical exploration uses
• Industrial Inspection: Quality control in narrow spaces

Research Results and Achievements

Kinematic Understanding

• Successfully parameterized eversion starting conditions
• Identified critical factors affecting eversion process
• Developed predictive models for robot behavior
• Validated through SOFA framework simulations

Clinical Testing

• 8mm Diameter Prototype: Silicone-coated Ripstop Nylon construction
• Iodine Solution Pressurization: Biocompatible inflation medium
• Cadaveric Trials: Real anatomical testing environment
• Navigation Challenges: Identified stenosis traversal difficulties

Material Compliance Studies

• Explored various semi-extensible materials
• Enhanced robot flexibility for tight anatomical passages
• Improved navigation through stenotic areas
• Optimized material properties for specific applications

Publications

Conference Papers

“3D Kinematics and Quasi-Statics of a Growing Robot Eversion” (2023)

• Authors: Flavie Przybylski, Yinoussa Adagolodjo, Anna Mîra, Giulio Cerruti, Jérémie Dequidt, Christian Duriez, Pierre Berthet-Rayne
• Conference: 2023 IEEE International Conference on Soft Robotics (RoboSoft)
• DOI: 10.1109/RoboSoft55895.2023.10122073
• HAL ID: hal-04390298
• Focus: Computational modeling of eversion kinematics and robot tip behavior

“Enhancing TAVI Robot Flexibility Using Semi-Extensible Materials” (2024)

• Authors: Flavie Przybylski, Yinoussa Adagolodjo, Jérémie Dequidt, Christian Duriez, Pierre Berthet-Rayne
• Conference: HSMR 2024 - 16th Hamlyn Symposium on Medical Robotics
• HAL ID: hal-04646160
• Focus: Material science applications for improved TAVI robot performance

Technical Specifications

Robot Characteristics

• Diameter: 8mm (current prototype)
• Material: Silicone-coated Ripstop Nylon
• Pressurization: Iodine solution (biocompatible)
• Deployment Method: Internal eversion mechanism
• Navigation: Suitable for tortuous anatomical pathways

Modeling Framework

• Simulation Platform: SOFA (Simulation Open Framework Architecture)
• Kinematic Model: Cosserat rod theory
• Static Analysis: Finite element methods
• Integration: Combined kinematic-static modeling approach

Applications Scope

• Primary: TAVI cardiovascular procedures
• Secondary: General endoscopic applications
• Research: Archaeological and industrial inspection
• Testing: Narrow passage navigation scenarios

Future Developments

Enhanced Materials

• Advanced Compliance: New semi-extensible material formulations
• Biocompatibility: Improved materials for extended body contact
• Durability: Enhanced material strength and reusability
• Smart Materials: Responsive materials for adaptive behavior

Advanced Control

• Autonomous Navigation: AI-guided pathway selection
• Force Sensing: Real-time tissue interaction monitoring
• Adaptive Deployment: Variable eversion based on anatomy
• Multi-DOF Control: Enhanced maneuverability

Clinical Translation

• Human Trials: Progression from cadaveric to clinical studies
• Regulatory Approval: FDA/CE marking for medical use
• Surgical Integration: OR workflow optimization
• Training Programs: Surgeon education and certification

Expanded Applications

• Neurovascular Access: Brain intervention applications
• Pediatric Medicine: Smaller diameter variants
• Emergency Medicine: Rapid deployment scenarios
• Combination Devices: Integration with imaging and therapy

Collaborative Research

Academic Partnerships

• University research collaborations in soft robotics
• Medical school partnerships for clinical validation
• International conferences and symposiums
• Cross-disciplinary research initiatives

Industry Collaboration

• Medical device manufacturers
• Material science companies
• Simulation software developers
• Healthcare technology integrators

Clinical Partnerships

• Cardiovascular surgery departments
• Interventional cardiology teams
• Medical device testing facilities
• Clinical trial coordination centers

Impact and Significance

Healthcare Innovation

• Reduced Invasiveness: Minimizing patient trauma
• Improved Outcomes: Enhanced precision and safety
• Accessibility: Procedures for high-risk patients
• Cost Reduction: Potential for outpatient procedures

Scientific Advancement

• Soft Robotics: Advancing eversion-based robotics
• Computational Modeling: Novel kinematic approaches
• Material Science: New biocompatible materials
• Medical Technology: Next-generation surgical tools

Global Health Impact

• Aging Population: Addressing demographic health challenges
• Cardiovascular Disease: Improving treatment options
• Healthcare Access: Enabling less invasive procedures
• Training Reduction: Simplified surgical techniques

Project Timeline

• 2022: Project initiation and concept development
• 2023: Kinematic modeling and RoboSoft publication
• 2024: Material studies and Hamlyn Symposium presentation
• Ongoing: Clinical validation and technology refinement
• Future: Regulatory approval and clinical implementation

Contact

For more information about the Growing Robot project, collaboration opportunities, or technical details about eversion-based robotics, please contact me.

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