Mechanical Engineering

In recent years, there has been a trend towards integrating small, soft and deformable structures into surgical robot systems. Target applications include endoscopy or magnetic resonance imaging (MRI)-guided intervention, where researchers take advantage of soft and flexible robots for their inherent mechanical compliance. However, these flexible robotic systems are often controlled in an open loop or with positional feedback from 3D tracking devices. Not only the real-time feedback of flexible/soft robot configuration or morphology itself is of importance, but also the robot manipulation modelling, as well as its intelligent control, become an area of interest in the field. To this end, this talk will present various robot prototypes, which attempt to resolve unmet clinical and technical challenges for image-guided intervention or surgery, either in strong magnetic field (1.5-3T) by magnetic resonance imaging (MRI) scanner or in confined anatomical space through endoscopy. Machine intelligent approaches, and also the recent advances in continuum robot design and learning-based sensing/control will also be overviewed. These robots have to incorporate with efficient mechanical transmission, thus enabling delicate mechanical force/motion transmitted from actuators to surgical tools in a long and flexible route. The ultimate goal is to provide high-performance control of robotics instruments for safe, precise and effective surgical manipulation. The speaker will not only share his research outcome, but also various difficulties in his up-and-down research journey, from R&D in university, (pre-)clinical trials in hospital, then technology transfer for clinical applications.

Living cells need to undergo significant shape changes during processes such as cell division, migration and tissue formation. Therefore, it is commonly believed that the deformability of cells is intimately related to their capability in executing different biological duties as well as the progression of diseases. In this talk, I will discuss how irreversible deformation of cells ensures proper axial extension of embryos during their development and how the plastic response of tumor cells can be used in monitoring the progression of cancer. Specifically, I will show that the presence of active intracellular/intercellular contraction will trigger the severing and re-bundling of actin filaments in cells (leading to cellular anisotropy and plasticity), elevate the internal hydrostatic pressure of embryo and eventually drive its elongation. In particular, the gradual re-alignment of F-actins must be synchronized with the development of intracellular forces for the embryo to elongate, which is then further sustained by muscle contraction-triggered plastic deformation of cells. In addition, I will also introduce a microfluidic setup developed in our lab allowing us to impose precisely controlled cyclic deformation on cells and therefore probe their plastic characteristics. Interestingly, we found that significant plastic strain can accumulate rapidly in highly invasive cancer cell lines and circulating tumor cells (CTCs) from late-stage lung cancer patients with a characteristic time of a few seconds. In comparison, very little irreversible deformation was observed in the less invasive cell lines and CTCs from early-stage lung cancer patients, highlighting the potential of using the plastic response of cells as a novel marker in future cancer prognosis and monitoring.