Patent Application
20240180576
The present invention relates to a mechanochromic indicator, or sensor, for a tissue or organ manipulation device used in Minimally Invasive (Robotic) Surgery (MIS/MIRS).
The invention relates as well to a manipulation device, in particular a mechanical end-effector and more particularly a miniaturized grasper or retractor devised to grasp or retract a soft tissue, including the mechanochromic indicator or sensor.
Minimally Invasive Surgery (MIS) refers to any surgical procedure that is performed through tiny incisions instead of a large opening. MIS provides several advantages over the “classical” open procedures, such as less pain, minimal to no scars, less blood loss, lower rate of complications, shorter hospital stay.
Known techniques of MIS usually employ several tools, including a mechanical end-effector such as a grasper, for the manipulation of tissue and/or organ. The end-effector is generally introduced in situ through the lumen of a cannula and may be manually or robotically controlled. An endoscope is also generally used to provide the surgeon with an illumination and a continuous visual monitoring over the intervention area.
The main drawback of existing tools is that they fail to provide the surgeon with an appropriate qualitative and/or quantitative feedback about the forces applied to the tissue by the end-effector and, therefore, about the safe handling thereof.
In fact, in principle robotic platforms can augment surgeon's dexterity and accuracy, but the lack of proper awareness about the force that is applied during the surgical actions still remains a crucial issue.
In particular, a visual feedback that avoids the use of electronics elements in the end-effector would be preferred, because such elements require wiring connections that might entail expensive and complex structures to allow, e.g., sterilization. In addition, electronic elements entail criticalities in terms, e.g., of algorithmic compensation of cross-talk loads.
In the state of the art, several attempts have been made to meet the above need.
WO2016056908A1 discloses a mechanical end-effector provided with bendable members. The flexing of the latter, i.e. their deformation under load, is used to provide a visual feedback to the operator. A further protruding visual indicator or marker is also applied on the bendable members.
This solution provides several drawbacks, since the described visual feedback is not easy discernible and strongly dependent upon the illumination conditions. Moreover, the protruding indicator may cause potential harm to the surrounding tissues or organs. In addition, the grasping pressure, and thus the slippage risk, can not be detected.
US20190151502A1 discloses a medical product having a coating layer containing a mechanophore element which, under stress, undergoes a colour-changing. However, the modes and threshold of activation of such element are not disclosed.
US 2003/216732 A1 discloses a medical device for creating thermal welds in engaged tissues or fastening tissues, which is characterized by a tissue-engaging surface that carries a thermochromic material or piezochromic material in a working surface.
US 2021/041314 A1 discloses a surgical instrument comprising an end effector and a region of stress-responsive colorimetric material on the end effector. The colorimetric material has a color that changes with increases in pressure applied to tissue by the end effector and is positioned to be visible to a user or endoscopic camera when in a body cavity engaging tissue.
The technical problem posed and solved by the present invention is to overcome one or more of the drawbacks previously mentioned with reference to the known art.
Such a problem is solved by a manipulation device for MIS procedures, in particular an end-effector, according to claim 1.
Preferred features of the present invention are the object of the dependent claims.
The invention provides a mechanochromic indicator device, or indicator, for a mechanical end-effector used in minimally invasive (possibly robotic) surgery.
The term “mechanochromic” used in the context of the present invention refers to a material capable of changing colour when subjected to mechanical stimuli and/or a triggering force.
The expression “mechanical end-effector” indicates herein tools usually employed in minimally invasive surgery that are generally connected to a handle by means of a support shaft. Such tools may be manually or robotically operated in order to manipulate tissues and/or organs. According to a preferred embodiment, the mechanical end-effector is, or includes, a miniaturized grasper.
The mechanical end-effector, in a working condition, exerts a force upon a soft tissue and/or organ being manipulated. When the manipulation force is equal to—or just below/close to—the damage threshold of that tissue and/or organ, the indicator provides a visual feedback to the operator, typically the surgeon.
To this aim, the mechanical end-effector may be provided with force transmission means, in particular a force transmission mechanism, acting upon the mechanochromic indicator. A triggering force, or pressure, is thus applied upon the indicator to produce a colour change thereof. The latter may be detectable by naked eye.
Accordingly, the invention makes possible to prevent any unwanted damages to tissues and/or organs during their surgical manipulation by alarming a surgeon through said colour change.
According to a preferred embodiment, the mechanical end-effector comprises a tool suitable for integration into a da Vinci surgical robotic system (or, equivalently, to a da Vinci Research Kit—dVRK—platform), functionalized with the adaptively morphing grasper disclosed in WO2019155316A1.
Herein, the terms “distal” and “proximal” are used to denote a remoter or closer position, respectively, from the tissue/organ to be manipulated.
The indicator is made of at least one polymeric matrix functionalized with mechanochromic molecules. The mechanochromic molecules may be defined as molecules that are capable of changing colour when subjected to mechanical stimuli and/or a triggering force.
The prepolymer/curing agent weight ratio of the at least one matrix and the percentage by weight of the mechanochromic molecules in the at least one matrix have been engineered in order to make the end-effector suitable for alarming a surgeon when the damage threshold of the tissue and/or organ under manipulation has been reached. The indication is provided via a naked eye-detectable colour change.
Preferably, the indicator is arranged directly onto a proximal (grasping) portion of the surgical end-effector, e.g. at a jaw member thereof.
As mentioned above, in some embodiments the invention provides a suitable force transmission mechanism between a grasping portion of the end-effector and the mechanochromic indicator arrangement.
As mentioned, the invention provides a colour-coded visual feedback, giving information of excessive force or pressure applied onto a tissue being manipulated. Accordingly, the invention provides an immediate and direct indication of the stress applied onto the tissue, with high visual discernibility. Preferably, the invention also allows indicating a slippage risk as associated with the pressure exerted onto the tissue.
Advantageously, the above visual feedback can be provided by a simple structure, perfectly integrated in the end-effector.
The invention may also allow overcoming the drawbacks associated with electronic-based sensing systems.
Additional features and advantages of the various aspects of the present invention will become apparent from the following detailed description of its preferred embodiments, together with the accompanying figures. Preferred embodiments are intended to explain and exemplify certain aspects of the present of invention but should not be construed as limiting its scope of protection.
The present invention and the following detailed description of preferred embodiments thereof may be better understood with reference to the following figures:
the top panel of
In the following, several embodiments of the invention will be described. It is intended that the features of the various embodiments can be combined, where compatible. In general, subsequent embodiments will be disclosed only with respect to the differences with the previously described ones.
With reference initially to
The grasping jaw device 100 comprises a proximal jaw 2, in particular an adaptively morphing soft jaw, or morphing jaw, preferably implemented as disclosed in WO2019155316A1.
Morphing jaw 2 is associated, in particularly fixedly connected, to a dVRK (da Vinci Research Kit) tool jaw, or arm, 4. In the present example, the connection is obtained by a mechanical joint implemented by a screw 8 fitting into a seat 20 of the jaw 2 and a windowed area 40 of the arm 4 and by an associated closing nut 9.
The lower jaw device (not represented) may have the same structure as the upper jaw device, also as associated to another dVRK arm.
For better clarity, in the following description directions will be defined in conjunction with a reference system (x, y, z) fixed with jaw 2.
In particular, the end-effector 1 mainly develops along a longitudinal direction substantially parallel to the x axis.
Upper jaw 2 is rotatably coupled to the lower jaw according to a transverse rotation axis, the latter being parallel to the y axis and orthogonal to longitudinal direction x. Therefore, the proximal jaws close towards each other according to a closing direction which generally corresponds to the z axis.
The upper morphing jaw 2 is exemplified in more detail in
With main reference to these latter figures, the jaw 2 includes a front element 101a that, in operation, is in contact with a tissue T to be grasped. Front element 101a faces the lower jaw and grasps tissue T therebetween.
Jaw 2 also comprises a back support element 102a configured to receive a grasping force which is exerted distally by the operator through a distal command and transmitted to support element 102a as grasping force Fz, i.e. a force in the mutual closing direction of the proximal jaws. Both the front element 101a and the support element 102a develop according to a main longitudinal direction parallel to the x axis, and to a secondary transversal direction parallel to the y axis.
Front element 101a and support element 102a are tightly coupled together. In particular, they are fixed one another along respective longitudinal edge portions so as to define a tubular hollow structure therebetween.
More particularly, both elements 101a and 102a have a curved profile and, in the present example, define a jaw which, in cross-section, is substantially shaped as an inverted “w” closed at the middle or an overall heart shape. Therefore, jaw 2 has a general tubular configuration, with two longitudinal rooms or spaces 151 and 152 extending therethrough. Preferably, these rooms and spaces house elastomeric material.
Preferably, each element 101a, 102a is shaped, in cross-section, as a double arch.
In particular, front element 101a can be shaped substantially as an “ω”. In other words, front element 101a has a substantially bilobed or “lowercase omega” profile. It has two lobes or coves 120, 121, preferably symmetric, arranged side by side. Thus, an end of a lobe is conjunct with an end of the other lobe at an intermediate region 122. The two lateral free ends of lobes 120 and 121 terminate with a lateral abutment or bracket 123, 124 protruding, along the y axis, inwardly with respect to the space subtended by each lobe 120, 121. Preferably, such lateral abutments 123 and 124 are substantially flat in the longitudinal direction x.
Support element 102a is defined by two arched sections 131, 132, in particular defining a continuous arched profile with a single radius of curvature. Support element 102a has at a central, or intermediate, rib 135 protruding, along the z axis, inwardly with respect to the space subtended by the arched profile, substantially centrally with respect to the circumferential development of the arched profile. Each of the two opposite ends of the arched profile terminates with a lateral abutment or bracket 133, 134 protruding, along the y axis, inwardly with respect to the space subtended by the arches. Preferably such lateral abutments 133 and 134 are substantially flat in the longitudinal direction x.
Front element 101a and support element 102a are fixed one another along the respective lateral abutments 123, 133 and 124, 134, representing their longitudinal edge portions. In addition, elements 101a and 102a are coupled together at rib 135 and corresponding region 122.
Front element 101a and support element 102a are elastically deformable. In particular, front element 101a is more compliant than support element 102a.
The overall arrangement is such that, by virtue of the proposed configuration—in particular of material continuity and compliance—when a grasping force Fz is applied along the z axis to support element 102a, the latter deforms accordingly, in particular through a displacement along the y axis. The grasping force is as well transmitted to the front element 101a that, in turn, deforms along the y axis.
As shown in
Then, upon removal of the grasping force Fz, each jaw goes back to its original “unloaded” configuration thanks to its elastic behaviour.
Grasping is effective and safe since, by design, the contact area between each front element 101a and the tissue T adaptively increases with the grasping force in such a way that a firm retention is provided without damaging the tissue. In other words, the deformation of the support element and of the front element, as response to the grasping force, determines an increase in the contact area between the front element and the tissue. Consequently, the force applied to the tissue is redistributed over a larger contact area so that the stress threshold is reached at higher force level with respect to the prior art devices.
With main reference again to
Preferably, indicator 3 is arranged between a transparent top plate 5 and a bottom transparent plate 6 associated with the dVRK arm 4, on the upper/external surface of the latter.
Transparent top plate 5 comprises pressure means 10, in particular one or more indenting elements or indenters, or relief structures, protruding downward so as to abut indicator 3. As it will be explained shortly below, pressure means 10 is responsible for the colour change of the mechanochromic indicator 3.
Preferably, the pressure means 10 is configured so as not to perforate or provide a pre-load in the steady-state to the mechanochromic indicator 3.
In the present example, device 1 includes one indenter 10 in form of a pillar, preferably a cylindrical one. The indenter may also be in form of a slab. As mentioned, the indenter(s) may vary in number as well as in thickness and/or width.
When the indenter 10 is a pillar, preferably it has a thickness of about 0.5-1.5 mm and a width of about 1.19-5.00 mm.
When the indenter is a slab, preferably it has a thickness of about 0.5 mm-2.0 mm and a width of about 1.0 mm-5.0 mm.
The indenter 10 is optically transparent. Preferably, its Young modulus is comprised in a range of about 5 MPa (e.g. Flexible 80A® Formlab)-3 GPa (e.g. Plexiglas) or 5 MPa-10 GPa.
Suitable materials for the indenter 10 may be transparent to allow visibility from the top side view, for example polyvinyl chloride (PVC), polyethylene (PE), polylactic acid (PLA), polyethylene terephthalate (PET).
A spacer element 7 is arranged laterally to indicator 3.
The transparent top plate 5 is mechanically connected to the dVRK arm 4, the morphing jaw 2 and the spacer element 7 by means of the screw 8 and nut 9. Of course, other fixing means may be used. In
Therefore, a stack is defined which comprises, starting from a basal plane, the head of the screw 8, the dVRK arm 4 at windowed portion 40 thereof, the morphing jaw 2 at seat 20 thereof, the spacer element 7 at seat 70, the transparent top plate 5 at seat 50 and the nut 9.
In specific implementations, the screw head has a preferred diameter of about 2.65 mm and the windowed area of the arm 4 preferably has an opening of about 2.55 mm.
The mechanochromic indicator 3 may be in the form of a brick, for example with size (4×5×2) mm3. Its thickness along the z direction may be included in a range of 0.5-2.0 mm. The upper limit (maximum) of the thickness may vary in dependence of the thickness of the spacer element 7.
Preferably, the screw head is not fully tightened with the nut 9.
As it will be described in greater detail shortly below, the upper jaw 2, the arm or dVRK jaw 4, the screw 8 and the plate 5 implement a lever transmission mechanism that transfers a contact force between the jaw 2 and the tissue T as a compression force exerted by indenter 10 onto indicator 3. Such lever mechanism, in the present example, is a first-type lever. Advantageously, it has a fulcrum at the longitudinal axis of the screw 8, which is preferably mounted with backlash in respective seat 20 of jaw 2, and pivots about an axis Py substantially parallel to the y direction.
Variant embodiment may provide for indicator 3 to be arranged directly onto proximal jaw 2. The indicator 3 may also be provided upon both the upper and lower jaw, or at both facing sides of the end-effector 1.
The mechanochromic indicator 3 will now be disclosed in greater detail.
Preferably, indicator 3 provides a reversible colour change, detectable by naked eye, when subject to a triggering force.
In the present embodiment, indicator 3 comprises at least one polymeric matrix functionalized with mechanochromic molecules.
In particular, a prepolymer/curing agent weight ratio used for preparing said at least one polymeric matrix is comprised in the range of about 1:1-15:1.
Preferably, the percentage by weight of the mechanochromic molecules in the matrix is comprised in the range of about 0.1-5%, more preferably is comprised in the range of about 1-5%.
As used herein, the term “polymeric matrix” means a tridimensional polymeric network.
The term “prepolymer”, as used herein, refers to materials which polymerize in situ to form a polymeric network and may encompass monomers, oligomers, short chain pseudo-stable polymeric chains which are capable of further polymerization by reactive groups to a fully cured high molecular weight state. As such, mixtures of reactive polymers with un-reacted monomers may also be referred to as pre-polymers. The terms “prepolymer” and “polymer precursor” may be interchanged.
The terms “curing” or “cure” refer to the chemical process employed in polymer chemistry that produces the toughening or hardening of a polymer material by cross-linking of the polymer chains. During the curing process, single monomers and oligomers react to form a tridimensional polymeric network.
Means for the fabrication of a polymeric matrix functionalized with mechanochromic molecules are well-known and commonly used in the field of polymer chemistry.
In one embodiment, the mechanochromic indicator 3 is prepared by a curing reaction of a composition comprising a prepolymer and mechanochromic molecules in the presence of a curing agent, provided the prepolymer/curing agent weight ratio is comprised in the range of 1:1-15:1, and the percentage by weight of said mechanochromic molecules in said composition is comprised in the range of 0.1-5%.
The term “curing agent”, as used herein, refers to any material or combination of materials that initiate, propagate, or accelerate cure of the polymer matrix and includes but is not limited to accelerators, catalysts, initiators, and hardeners. Any suitable curing agents can be used to produce a polymeric matrix according to the present invention. Suitable curing agents may contain reactive functional groups that are reactive with the functional groups in the polymer matrix. Examples include, but are not limited to Platinum(0)-1,3-divinyl-1,1,3,3-tetramethyldisiloxane complex solution for hydrosilylation reaction (Karstedt's catalyst). More in general platinum, palladium, rhodium (Wilkinson's catalyst), and ruthenium form highly active catalysts; non-precious metal catalysts, especially those based on nickel have also been developed as economical alternatives, but they are often slower or require higher temperatures or typical strategy for the preparation of thermoset polymers, and by means of free radical polymerization.
In one preferred embodiment, the prepolymer/curing agent weight ratio used for preparing said at least one polymeric matrix of the mechanochromic indicator may be 1:1, 2.5:1, 5:1, 10:1, 15:1.
The curing reaction can be carried out by any technical means used in the art, under conditions suitable to produce a three-dimensional polymeric network functionalized with said mechanochromic molecules. Depending on the components selected for the preparation of the mechanochromic indicator of the present invention, the composition comprising the prepolymer and mechanochromic molecules may be cured at temperatures ranging from 90° ° C. and 150° C.
The matrix may be selected, preferably but not limitedly, from the group comprising the following polymers, alone or in combination: polydimethylsiloxane (PDMS), Dragon Skin 20®, poly(methylacrilate) (PMA), polycaprolactone (PCL), Ecoflex®, polymethyl methacrylate (PMMA), polystyrene and poly(n-butyl acrylate) triblock copolymers ((PS)-PnBA-SP-PnBA-PS)), ureidopyrimidinone (UPy).
The mechanochromic molecules may consist of molecules showing mechanochromism or mechanoluminescence, i.e. molecules that undergo a change of colour when exposed to mechanical stimuli.
More in detail, the mechanochromic molecules may be chosen, preferably but not limitedly, among functionalized spiropyran (SP) molecules and/or derivatives thereof (e.g. spirothiopyran, naphthopyran, bis-naphthopyran), polydiacetylenes, azo moieties, rhodamine and/or derivatives thereof (e.g. spirorhodamine-diol), benzocyclobutene, diarylbibenzofuranone moieties, perylene bisimide, 1,2-dioxetane, oligourethane gel, phenyltriazolinedione-anthracene, coumarin dimers, dithiomaleimide moieties, methanone-tethered cinnamate dimers, 2-(20-hydroxyphenyl)-benzoxazole, silver coordination complexes, cyano-OPV derivative, bis(benzoxazolyl)stilbene dye, Square-20) planar platinum(II) complexes, 2-Phenyl-1,3-indandione radical and its derivatives, 1,1,1-tris(cinnamoyloxymethyl)ethane, 1,4-bis(R-cyano-4-methoxystyryl)-2,5-dimethoxybenzene (BCMDB), 1,4-bis(R-cyano-4-meth-oxystyryl)benzene (BCMB), carbazole units, poly(3-alkylthiophene), Rotaxanes), and/or combinations thereof.
The amount of the mechanochromic molecules in the at least one polymeric matrix may be adjusted depending on the type of polymer and mechanochromic molecules used, provided it can ensure a detectable mechanochromic response when the resulting mechanochromic indicator is subjected to a minimum activation pressure.
Preferentially, the mechanochromic molecules may be present in the at least one polymeric matrix in a percentage by weight of 0.1%, 0.5%, 1%, 1.5%, 2%, 4% or 5%. Within the context of the present invention, the terms “doped” or “doping” can be used with reference to a polymeric matrix (or the resulting “mechanochromic indicator”) that is functionalized with mechanochromic molecules according to any of the embodiments as described in the present specification. As an example, the terms “SP-doped” or “SP-doping” can be used to define a polymeric matrix that is specifically functionalized with spiropyran molecules or derivatives thereof such as those described in the present specification acting as cross-linker or coupling agent in the polymer network chain.
In some embodiments, the mechanochromic molecules form or are incorporated within a coating on the surface of said at least one polymeric matrix and/or are incorporated within the polymeric structure of said at least one polymeric matrix.
Preferably, the mechanochromic molecules are covalently linked to said at least one polymeric matrix: in particular, such mechanochromic molecules may be covalently integrated into the main chain (molecular backbone) and/or into a side chain of said polymeric matrix, and/or may form a side chain of said polymeric matrix. Merely by way of example, mechanochromic molecules can be incorporated in the polymer chain with a chain-growth, or step-growth polymerization procedure, or with post-polymerization coupling steps (e.g. Diels-Alder reactions). Furthermore, the former can be incorporated also at the interface (immobilizing the mechanophore on the surface), or with, for example, sol-gel strategies and covalent attachment of the dye to micelles. Preferentially, molecules of the polymeric matrix can be crosslinked with one another via said mechanochromic molecules.
In one embodiment, said at least one polymeric matrix may be characterized by a porous architecture or else by a nanoparticle-in-micropore (NP-MP) architecture comprising mechanochromic molecules and nanoparticles (e.g. silica nanoparticles). One example of such mechanochromic composite with hierarchical NP-MP architecture is provided in Park et al. 2019, Adv. Mater 2019, 31, 1808148.
Merely by way of example, porous mechanochromic indicators with hierarchical NP-MP architectures can be fabricated by mixing said mechanochromic molecules (e.g. spiropyran molecules) with a PDMS polymer and silica nanoparticles in hydrophilic cosolvents, followed by the evaporation of solvents during the hydrosilylation curing process. During this process, spherical pores are formed within the composites as a result of phase separation between the hydrophobic PDMS matrix and hydrophilic solvents, following the elimination of trapped solvents. The resulting composite or polymeric matrix incorporating said mechanochromic molecules, would contain uniformly distributed pores with inner pore surfaces decorated with silica nanoparticles.
Advantageously, hierarchical NP-MP architecture in porous mechanochromic indicators can enhance both mechanochromic strain/stress sensitivity and stretchability. Notably, reducing pore size while increasing nanoparticle size should enhance the mechanochromic sensitivity. Furthermore, the hierarchical NP-MP architecture of the porous polymeric matrix can simultaneously reduce the onset of mechanochromism and enhance the extensibility.
In some embodiments, said mechanochromic molecules may be functionalized with one or more terminal functionalization groups suitable for their covalent binding to said at least one polymeric matrix. Means for the chemical functionalization of said mechanochromic molecules are well-known to those of ordinary skill in the art, who would be able to select the most suitable functionalization groups and functionalization protocols depending on the type of polymeric matrix and type of mechanochromic molecules that are selected.
Preferentially, said mechanochromic molecules are functionalized spiropyran molecules. A spiropyran is a 2H-pyran isomer comprising an indoline and a chromene moiety bound together via a spiro junction and oriented perpendicular with respect to one another. Colorless spiropyran reversibly isomerizes to the planar zwitterionic blue/violet-colored merocyanine (MC) form upon mechanical, optical or thermal stress. The MC→SP reverse isomerisation usually occurs spontaneously and can be accelerated by visible light (e.g. white and/or green light pumping) or thermal heating.
One preferred embodiment of the present invention refers to an engineered mechanochromic indicator as previously described, wherein said at least one polymeric matrix is a PDMS matrix functionalized with SP molecules, the prepolymer/curing agent weight ratio used for preparing said PDMS matrix is equal to 2.5:1, and the percentage by weight of said SP molecules in said at least one matrix is 2 wt %.
Preferentially, said SP molecules are specifically functionalized with two terminal alkene chains (vinyl groups), one attached at the benzopyran ring, and one at the indoline ring of each SP molecule, thereby enabling the cross-linking of the SP molecules to the elastomeric network of the polymeric matrix.
In one preferred embodiment, said SP molecules have the following formula
Merely by way of example, SP molecules bis-functionalized with alkene chains may be cross-linked into the elastomeric network of poysiloxanes by a platinum catalyzed hydrosilylation reaction. Thanks to the bis-alkene functionalization groups, this reaction reveals as the same curing reaction as that between vinyl- and hydrosilane functionalities in the SP-free silicone networks.
Notably, as also schematically depicted in
According to one embodiment of the present invention, the mechanochromic indicator is characterized by a minimum mechanochromic activation pressure comprised between 900 kPa and 10 MPa.
In some embodiments, the mechanochormic indicator can be advantageously characterized by a minimum mechanochromic activation pressure lower than 900 kPa: such values might be obtained, for example, by introducing/forming nano- and/or micropores within the polymeric structure of said at least one polymeric matrix (e.g. by obtaining hierarchical NP-MP architectures) and/or by modulating the curing temperatures that affect the elastic behaviour of said materials. Indeed, as previously mentioned, the hierarchical architecture of porous polymeric matrices can favourably reduce the onset of mechanochromism.
Advantageously, as also clearly shown in
As previously mentioned, another way to foster the macroscopic recovery time for the backward reaction (MC→SP), relies on mediation through thermal heating. In particular, as clearly shown in
A mechanochromic indicator according to the present invention may further comprise the combination of a plurality of polymeric matrices, each functionalized with different mechanochromic molecules, and/or comprising different weight percentages of mechanochromic molecules, and/or having different thicknesses, so as to form a multi mechanochromic material with proper minimum mechanochromic response when the minimum mechanochromic activation pressure is achieved.
In the context of the present specification, a mechanochromic indicator comprising the combination of at least two or more polymeric matrices, each functionalized with different mechanochromic molecules and/or comprising different weight percentages of mechanochromic molecules, and/or having different thicknesses, may be also defined as a “multi-color mechanochromic indicator” or else as a “multi-mechanochromic indicator”. On the other hand, a mechanochromic indicator consisting of a single polymeric matrix functionalized with mechanochromic molecules according to any of the previously described embodiments, may also be herein defined as a “single-color mechanochromic indicator” or else “single-mechanochromic indicator”.
According to one embodiment of the present invention, the mechanochromic indicator 3 comprises at least three bonded polymeric matrices each comprising a distinct weight percentage of said mechanochromic molecules and/or having a different thickness, even showing a different colorimetric response (i.e. SP in Poly(methylacrilate) (PMA) red, SP in PDMS violet, SP in Polycaprolactone (PCL) cyan).
Operation of manipulation device 1 will now be described in greater detail with reference to
When device 1 is in an operating condition, the morphing jaw 2 exerts a clutching force on tissue and/or organ T under manipulation. The tissue and/or organ T will provide an equal and opposite force Fc in response. This latter force is transmitted, via the lever mechanism disclosed above, to the indenter 10, which exerts a compression force upon the mechanochromic indicator 3.
In the present embodiment, thus, the lever mechanism works by means of a sort of fulcrum transmission transferring clutching force Fc acting on the soft front jaw element 101a into an indentation force Fi acting on the mechanochromic indicator 3.
In an embodiment, the lever arms interposed between the fulcrum and, respectively, the contact point between jaw 2 and tissue T and the contact point between indenter 10 and indicator 3 are of comparable length (denoted by l in
p
i
≅p
c(Ac/Ai).
This latter relation permits to regard the Ac/Ai as a “geometrical amplification factor” for mapping a working pressure pc into a pressure pi suitably above the mechanochromic activation threshold of indicator 3. In a clinical perspective, the clutching pressure should be kept below a tissues-specific damage threshold (e.g. in a range of about 140-240 kPa for porcine organ models).
The transmission of force Fc is allowed, in the present embodiment, by a backlash between the seat 20 of the morphing jaw 2 and screw 8.
Such backlash allows to the morphing jaw 2, in response to the force Fc provided by the tissue and/or organ under manipulation, to tilt outwards with respect to its longitudinal axis along the x direction, consequently tilting the spacer element 7 and the transparent top plate 5, so that the indenter 10 may exert a compression force Fi, equal in value to the force provided/received by the morphing jaw 2, on the mechanochromic indicator 3.
When the indenter 10 exerts a compression force on the mechanochromic indicator 3, this result in a colour change. The device 1 is configured so that the colour change takes place when the force transmitted reaches a value that is equal or just below the tissue and/or organ damage threshold.
The indenter 10 may exert compression forces as low as 1N.
The colour change can be visualized by the surgeon by suitable vision means.
According to a first preferred embodiment, the surgeon may notice the colour change by means of an endoscope, which is commonly used during MIS/MIRS procedures.
As exemplified in
This is particularly useful when the mechanochromic indicator comprises two or more matrices, each one loaded with different percentage by weight of SP molecules.
Preferably, the optical fiber is inserted in a concentric hole in one indenter 10. In the variant embodiment of
More preferably, each indenter provides a concentric hole suitable for housing a respective optical fiber.
The optical fiber may consist in a poly(methyl methacrylate) (PMMA) optical fiber.
Preferably, the fiber minimum diameter is as low as 0.5 mm, and it is strictly dependent on the indenter diameter in which the optical fiber will be housed into.
As exemplified in
Regardless the means used for detecting the colorimetric variation, that is by using the endoscope or the optical fiber, when the colour change takes place, the surgeon can choose to stop engaging the tissue and/or organ T.
Without any clutching force exerted, the colour change of the mechanochromic indicator may be reversed. Such reversibility may occur by waiting for a certain amount of time, called herein recovery time.
Preferably, such recovery time may be fostered by suitable means, such as by pumping light or providing heat transfer to the mechanochromic indicator. According to a preferred embodiment, the colour change may be reverted by a white light and/or green light pumping. Such pumping is preferentially provided by the endoscope, which is equipped with a light source for the lighting of the surgical area.
As exemplified in
The endoscope may, at the same time, alarm the surgeon when a colour change on the end-effector takes place as well as promote the starting colour recovery of the mechanochromic indicator by pumping light over the end-effector.
In specific embodiments such recovery time may vary in the range 900 s (worst case at room temperature under optical pumping with green laser driving current 125 mA for PDMS 5:1, 5% wt. SP-doping)—2 s (best case at 100° C. under ambient light for PDMS 2.5:1, 2% wt. SP-doping).
Preferably, in specific embodiments such recovery time may vary in the range 245 s (worst case at room temperature and with ambient light for PDMS 2.5:1, 2% wt. SP-doping)—40 sec (best case at 40° C. under optical pumping with green laser driving current 125 mA for PDMS 2.5:1, 2% wt. SP-doping). Theoretical values of the recovery time could be specifically evaluated by scaling the value obtained passing from 20/25° C. to 40° under ambient light, by a factor of 3.
According to a variant embodiment, the mechanochromic indicator can be encapsulated.
According to an embodiment shown in
Both pressure means 110 and an associated lever mechanism for force transmission can be directly 3D printed, e.g. by commercial photo-curable resins.
According to a further embodiment, a multi-colour mechanochromic sensor, or indicator, can be realized, miniaturized, and easily laid down on the surgical tool frame as demonstrated for the previously described single-colour mechanochromic indicator. Indeed, covalent binding of SP molecules in e.g. Poly(methylacrilate) (PMA), polycaprolactone (PCL), or polysiloxanes (PDMS, Dragonskin®, Ecoflex®, etc.), results in a mechanochromic polymer with a visible absorbance spectrum in the open merocyanine form ranging from reddish, cyanic, and intense blue/violet, respectively. Advantageously, multi-colour and tunable colorimetric information from different polymers functionalized with different % wt. of SP molecules could be useful for applications requiring spatial-resolution or multiple-activation-thresholds.
As exemplified in
In one embodiment, said multi-mechanochromic indicator may comprise different polymeric matrices specifically functionalized with different percentages of SP molecules, acting as discrete colorimetric pressure sensors with a proper minimum mechanochromic activation pressure.
In an embodiment, pressure means 10 with multiple indenting elements can be used in order to selectively transfer the reaction force generated during the engaging of the jaw with the tissue at the different mechanochromic polymers positions.
In this way, activation of each of this SP-doped family of polymers with different mechanochromic activation pressure, can return a selective alarm to the user for different tissues thresholds and for real-time dynamic manipulation tasks. Indeed, the lever mechanism would trigger a different mechanochromic response when the minimum mechanochromic pressure is achieved.
The invention provides also a method of operation of a mechanical end-effector as disclosed above, which method comprises the following steps:
Optical pumping according to step (d) may be omitted in specific applications, wherein colour reverting occurs spontaneously over time.
Examples are reported below, which have the purpose of better illustrating the methodologies disclosed in the present description; such examples are in no way to be considered as a limitation of the previous description and the subsequent claims.
Different silicone-based matrices have been mechanically tested using a Universal Testing Machine (UTM). Each prepolymer to curing agent ratio was identified by the relative elastic modulus. The elastic moduli by monoaxial stress-strain traction tests on standardized dog-bone silicone not doped with SP molecule was firstly assumed (Table 1). The mechanical performances of PDMS is affected by different percentage of the cross-linker sites, and it has been proved that a higher number of cross-linker sites results in a higher Young modulus of the material.
a)All the sample have been cured at around 90° C. per 5 h except c);
b) All the measurements have been repeated at least five times on different cured dog-bone samples;
c) cured at 150° C. per 2 h
Preparation of Polymers Functionalized with Spiropyran Molecules (SP)
Samples were fabricated by reticulating different elastomeric materials as Polydimethylsiloxane (PDMS, Sylgard 184), and Dragonskin20 (Smooth-On®) with the SP monomer, doubled-functionalized with terminal vinyl groups. Doubled-functionalized
SP molecules can be synthesized according to the following reaction scheme:
Details on the chemical syntheses and sample fabrication can be found elsewhere (G. R. Gossweiler, G. B. Hewage, G. Soriano, Q. Wang, G. W. Welshofer, X. Zhao, S. L. Craig, ACS Macro Lett. 2014, 3, 216.). Hydroxyl-functionalized SP molecules (3) were purified by column chromatography, and the synthesis and purification of the final product (SP) were performed according to the procedure by G. R. Gossweiler, T. B. Kouznetsova, S. L. Craig, J. Am. Chem. Soc. 2015, 137, 6148. However, column chromatography (Al2O3 neutral, dicloromethane DCM, Sigma Aldrich) was used to purify the final product. All the chemical compounds were verified by 1H-NMR and 13C-NMR tests, with a Bruker 400 MHz spectrometer (Bruker) at 300 K (
The needed weight fraction of the bis-functionalized SP monomer was put into a glass vial and dissolved in 1.2 ml of DCM. The solution was mixed with the PDMS, or Dragonskin20 pre-polymer and stirred vigorously for 1 h. After 1 h, the curing agent was added to the mixture and stirred. After another hour, the solution was poured into a rounded mold. It was degassed until all the DCM fraction was evaporated and all the poured molds were put in the oven at 90° C. until the curing process was ended (around 9 h). The mechanochromic samples thus obtained varied their colour from yellowish (small mg amount of SP) to dark-orange coloration (high percentage by weight of SP).
All the compression simulations were carried out by using FEM solver Abaqus (Dassault Systèmes, Vélizy-villacoublay, France). During the simulation, the material model adopted for the pillar and slab is a linear elastic plexiglass, with an equivalent Young Modulus being 3 GPa and Poisson's ratio being 0.37. The material model adopted for the mechanochromic indicator is a built-in hyperelastic Neo-Hookean model with material constants C10 being 0.798 MPa and D1 being 0. Standard 3D stress elements were adopted, as well as inviscid contact. Grid independence was checked. The interaction property between the touched surfaces only accounts for normal behaviour. The plexiglass components are laser-cutted by Versalaser machine.
The macroscopic mechanochromic response of a series of PDMS (2.5:1, 5:1, 10:1, 15:1, prepolymer to curing agent ratio), and Dragonskin20 (1:1) rounded samples, doped with different percentage by weight of SP as previously synthetized (1%, 1.5%, 2%, 4% and 5%) and cured at 85° C.-95° C. was investigated. The opto-mechanical response of the selected doped elastomers when transiently subjected to a mechanical compression, in order to derive the minimum mechanochromic activation pressure and the visibility of the changing coloration, has been deeply characterized.
As clearly shown in
Concerning the optical response of the mechanochromic indicators, the normalized ratio value (N [R (λ=480 nm)/R (λ0)]) was plotted in function of the force (
The graphs reported in
R (λ=480 nm) represents the reflectance peak of the merocyanine form at 480 nm, and R (λ0) (where λ0 is equivalent to 580 nm for all the prepolymer/curing agent compositions except for the 15:1 that shows a broad peak at 650 nm) was the reflectance peak at the dominant yellowish/reddish sample coloration. The straight line set in each graph reported in
The graphs reported in
Furthermore, the recovery time of the mechanochromic indicators was tested, i.e. the recovery time from the backward chemical reaction MC->SP. Indeed, while the changing coloration reaction SP->MC is instantaneous when reached the mechanochromic activation pressure, the backward shows a time latency. The reversibility and in particular the closure of the spiro C—O bond in the MC form, can be fostered by pumping light on the macroscopic colored form. Indeed, a broad absorbance peak around 560 nm is distinguishable in the MC absorbance spectrum (
The composition of PDMS 2.5:1, 2% wt. SP-doped, reported the minimum mechanochromic activation pressure (1.17 MPa) and the fastest recovery time under optical pumping (≈150 s) of all sample tested, under 520 nm optical laser diode pump driven at 125 mA at room temperature.
Another way to foster the macroscopic recovery time for the backward reaction (MC->SP), relies on mediation through thermal heating. The sample was placed in an oven at uniform temperature. The sample was then manually indented, reproducing a circular-coloured region and with a digital timer, the time recovery was measured. As clearly shown in
A first experimental test was performed by manually actuating an Endowrist Cadiere Forceps (by Intuitive Surgical, product number 400049), modified so as to incorporate (see
Measurements of the force applied onto the tissue have been obtained by an electronic force sensor (FSR-402, Interlink Electronics, Inc., USA), that was sandwiched between the grasped soft tissue (see
Thanks to the lever (amplification) mechanism, a 7 N grasping force applied by the distal jaw to the tissue, with the contact area of around 100 mm2, could be transferred to the proximal indenter to the mechanochromic indicator, with a contact area of 1.13 mm2, allowing to implement a mapping between the tissue damage threshold pressure and the trigger pressure for change of coloration.
The amplification of the applied force allowed the color changing of the mechanochromic indicator to be confined on a very small area (cylindrical indenter area, 1.13 mm2) achieving the high value of 1.2 MPa (out of scale of the surgical application). However, due to the fact that the soft grasper in contact with the soft tissue had a contact area of 100-120 mm2, it has been possible to transfer a pressure on the soft tissue of about 0.07 MPa (order of surgical application, it can be a compatible/reliable damage threshold alert).
A second experimental test was carried out endowing a da Vinci Research Kit (dVRK) (Intuitive Surg. Inc., CA, USA), by robotic actuation of an Endowrist Cadiere Forceps (by Intuitive Surgical, product number 400049) modified with the technical elements as described above for the first experimental test, so as to transfer the load on the mechanochromic indicator. The color changing was obtained at 5 N on the soft grasper. However, the available dVRK surgical robotics platform permits to clutch with forces up to nearly 6 N. Moreover, considering that the used dVRK platform was a first-generation system, it was not possible to exert clutching forces as high as those available on current da Vinci clinical systems (e.g., da Vinci S, Si, and Xi), nor it could be possible to benefit from higher resolution currently available for its endoscopic camera. Nonetheless, the obtained results demonstrate the possibility to integrate a mechanochromic grasper in a state-of-the-art surgical robotic system, by leveraging material intelligence to achieve sensing capabilities without resorting to extremely complex electronics implementations). These forces were distributed on the soft grasper area (100-120 mm2) providing 0.05 MPa on the soft tissue. The latter pressure is very low compared to the mechanochromic activation pressure threshold (1.17 MPa) but it is amplified, providing the required color changing to alarm the surgeon.
The present invention has been described with reference to preferred embodiments. However, it will be understood that variations and/or modifications can be brought to the grasper device according to the present invention without thereby departing from the scope of the invention as defined in the following claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102021000006983 | Mar 2021 | IT | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2022/052608 | 3/22/2022 | WO |
