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Gao Y, Wei F, Chao Y, Yao L. Bioinspired soft microrobots actuated by magnetic field. Biomed Microdevices 2021; 23:52. [PMID: 34599405 DOI: 10.1007/s10544-021-00590-z] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Accepted: 09/20/2021] [Indexed: 12/16/2022]
Abstract
In contrast to traditional large-scale robots, which require complicated mechanical joints and material rigidity, microrobots made of soft materials have exhibited amazing features and great potential for extensive applications, such as minimally invasive surgery. However, microrobots are faced with energy supply and control issues due to the miniaturization. Magnetic field actuation emerges as an appropriate approach to tackle with these issues. This review summarizes the latest progress of biomimetic soft microrobots actuated by magnetic field. Starting with an overview of the soft material and magnetic material adopted in the magnetic field actuated soft microrobots, the various fabrication methods and design structures of soft microrobots are summarized. Subsequently, practical and potential applications, such as targeted therapy, surgical operation, and the transportation of microscopic objects, in the fields of biomedicine and environmental remediation are presented. In the end, some current challenges, and the future development trends of magnetic soft microrobots are briefly discussed. This review is expected to offer a helpful guidance for the new researchers of biomimetic soft microrobots actuated by magnetic field.
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Affiliation(s)
- Yuwen Gao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Fanan Wei
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China.
| | - Yin Chao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
| | - Ligang Yao
- School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, China
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Zhou C, Yang Y, Wang J, Wu Q, Gu Z, Zhou Y, Liu X, Yang Y, Tang H, Ling Q, Wang L, Zang J. Ferromagnetic soft catheter robots for minimally invasive bioprinting. Nat Commun 2021; 12:5072. [PMID: 34417473 PMCID: PMC8379157 DOI: 10.1038/s41467-021-25386-w] [Citation(s) in RCA: 53] [Impact Index Per Article: 17.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/19/2020] [Accepted: 07/30/2021] [Indexed: 11/09/2022] Open
Abstract
In vivo bioprinting has recently emerged as a direct fabrication technique to create artificial tissues and medical devices on target sites within the body, enabling advanced clinical strategies. However, existing in vivo bioprinting methods are often limited to applications near the skin or require open surgery for printing on internal organs. Here, we report a ferromagnetic soft catheter robot (FSCR) system capable of in situ computer-controlled bioprinting in a minimally invasive manner based on magnetic actuation. The FSCR is designed by dispersing ferromagnetic particles in a fiber-reinforced polymer matrix. This design results in stable ink extrusion and allows for printing various materials with different rheological properties and functionalities. A superimposed magnetic field drives the FSCR to achieve digitally controlled printing with high accuracy. We demonstrate printing multiple patterns on planar surfaces, and considering the non-planar surface of natural organs, we then develop an in situ printing strategy for curved surfaces and demonstrate minimally invasive in vivo bioprinting of hydrogels in a rat model. Our catheter robot will permit intelligent and minimally invasive bio-fabrication.
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Affiliation(s)
- Cheng Zhou
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Youzhou Yang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Jiaxin Wang
- Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China
| | - Qingyang Wu
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Zhuozhi Gu
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Yuting Zhou
- The Key Laboratory of Bionic Engineering (Ministry of Education) and the College of Biological and Agricultural Engineering, Jilin University, Changchun, China
| | - Xurui Liu
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Yueying Yang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Hanchuan Tang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China
| | - Qing Ling
- Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, China
| | - Liu Wang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui, China.
| | - Jianfeng Zang
- School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
- The State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, China.
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Nguyen KT, Kim SJ, Min HK, Hoang MC, Go G, Kang B, Kim J, Choi E, Hong A, Park JO, Kim CS. Guide-Wired Helical Microrobot for Percutaneous Revascularization in Chronic Total Occlusion in-Vivo Validation. IEEE Trans Biomed Eng 2021; 68:2490-2498. [PMID: 33351745 DOI: 10.1109/tbme.2020.3046513] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
OBJECTIVE For the revascularization in small vessels such as coronary arteries, we present a guide-wired helical microrobot mimicking the corkscrew motion for mechanical atherectomy that enables autonomous therapeutics and minimizing the radiation exposure to clinicians. METHODS The microrobot is fabricated with a spherical joint and a guidewire. A previously developed external electromagnetic manipulation system capable of high power and frequency is incorporated and an autonomous guidance motion control including driving and steering is implemented in the prototype. We tested the validity of our approach in animal experiments under clinical settings. For the in vivo test, artificial thrombus was fabricated and placed in a small vessel and atherectomy procedures were conducted. RESULTS The devised approach enables us to navigate the helical robot to the target area and successfully unclog the thrombosis in rat models in vivo. CONCLUSION This technology overcomes several limitations associated with a small vessel environment and promises to advance medical microrobotics for real clinical applications while achieving intact operation and minimizing radiation exposures to clinicians. SIGNIFICANCE Advanced microrobot based on multi-discipline technology could be validated in vivo for the first time and that may foster the microrobot application at clinical sites.
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Manamanchaiyaporn L, Tang X, Zheng Y, Yan X. Molecular Transport of a Magnetic Nanoparticle Swarm Towards Thrombolytic Therapy. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3068978] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022]
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55
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Collins GC, Sarma A, Bercu ZL, Desai JP, Lindsey BD. A Robotically Steerable Guidewire With Forward-Viewing Ultrasound: Development of Technology for Minimally-Invasive Imaging. IEEE Trans Biomed Eng 2021; 68:2222-2232. [PMID: 33264091 PMCID: PMC8279262 DOI: 10.1109/tbme.2020.3042115] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022]
Abstract
OBJECTIVE The current standard of care for peripheral chronic total occlusions involves the manual routing of a guidewire under fluoroscopy. Despite significant improvements in recent decades, navigation remains clinically challenging with high rates of procedural failure and iatrogenic injury. To address this challenge, we present a proof-of-concept robotic guidewire system with forward-viewing ultrasound imaging to allow visualization and maneuverability through complex vasculature. METHODS A 0.035" guidewire-specific ultrasound transducer with matching layer and acoustic backing was designed, fabricated, and characterized. The effect of guidewire motion on signal decorrelation was assessed with simulations and experimentally, driving the development of a synthetic aperture beamforming approach to form images as the transducer is steered on the robotic guidewire. System performance was evaluated by imaging wire targets in water. Finally, proof-of-concept was demonstrated by imaging an ex vivo artery. RESULTS The designed custom transducer was fabricated with a center frequency of 15.7 MHz, 45.4% fractional bandwidth, and 31 dB SNR. In imaging 20 μm wire targets at a depth of 6 mm, the lateral -6 dB target width was 0.25 ± 0.03 mm. The 3D artery reconstruction allowed visualization of vessel wall structure and lumen. CONCLUSION Initial proof-of-concept for an ultrasound transducer-tipped steerable guidewire including 3D image formation without an additional sensor to determine guidewire position was demonstrated for a sub-mm system with an integrated ultrasound transducer and a robotically-steered guidewire. SIGNIFICANCE The developed forward-viewing, robotically-steered guidewire may enable navigation through occluded vascular regions that cannot be crossed with current methods.
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Park S, Ko B, Lee H, So H. Rapid manufacturing of micro-drilling devices using FFF-type 3D printing technology. Sci Rep 2021; 11:12179. [PMID: 34108498 PMCID: PMC8190076 DOI: 10.1038/s41598-021-91149-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2021] [Accepted: 05/21/2021] [Indexed: 11/24/2022] Open
Abstract
Micro-drilling devices with different blade shapes were fabricated with a rapid and facile manufacturing process using three-dimensional (3D) printing technology. The 3D-printed casting mold was utilized to customize the continuous shape of the blades without the need for expensive manufacturing tools. A computational fluid dynamics simulation was performed to estimate the pressure differences (fluidic resistance) around each rotating device in a flowing stream. Three types of blades (i.e., 45°, 0°, and helical type) were manufactured and compared to a device without blades (i.e., plain type). As a result, the device with the 45° blades exhibited the best drilling performance. At a rotational speed of 1000 rpm, the average drilling depth of the device with the 45° blades to penetrate artificial thrombus for 90 s was 3.64 mm, which was ~ 2.4 times longer than that of helical blades (1.51 mm). This study demonstrates the feasibility of using 3D printing to fabricate microscale drilling devices with sharp blades for various applications, such as in vivo microsurgery and clogged water supply tube maintenance.
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Affiliation(s)
- Sangyeun Park
- Department of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea
| | - Byeongjo Ko
- Department of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea
| | - Heewon Lee
- Department of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea
| | - Hongyun So
- Department of Mechanical Engineering, Hanyang University, Seoul, 04763, South Korea. .,Institute of Nano Science and Technology, Hanyang University, Seoul, 04763, South Korea.
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57
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A holistic survey on mechatronic Systems in Micro/Nano scale with challenges and applications. JOURNAL OF MICRO-BIO ROBOTICS 2021. [DOI: 10.1007/s12213-021-00145-8] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/01/2023]
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58
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Zhao X, Chen X, Yuk H, Lin S, Liu X, Parada G. Soft Materials by Design: Unconventional Polymer Networks Give Extreme Properties. Chem Rev 2021; 121:4309-4372. [PMID: 33844906 DOI: 10.1021/acs.chemrev.0c01088] [Citation(s) in RCA: 308] [Impact Index Per Article: 102.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
Hydrogels are polymer networks infiltrated with water. Many biological hydrogels in animal bodies such as muscles, heart valves, cartilages, and tendons possess extreme mechanical properties including being extremely tough, strong, resilient, adhesive, and fatigue-resistant. These mechanical properties are also critical for hydrogels' diverse applications ranging from drug delivery, tissue engineering, medical implants, wound dressings, and contact lenses to sensors, actuators, electronic devices, optical devices, batteries, water harvesters, and soft robots. Whereas numerous hydrogels have been developed over the last few decades, a set of general principles that can rationally guide the design of hydrogels using different materials and fabrication methods for various applications remain a central need in the field of soft materials. This review is aimed at synergistically reporting: (i) general design principles for hydrogels to achieve extreme mechanical and physical properties, (ii) implementation strategies for the design principles using unconventional polymer networks, and (iii) future directions for the orthogonal design of hydrogels to achieve multiple combined mechanical, physical, chemical, and biological properties. Because these design principles and implementation strategies are based on generic polymer networks, they are also applicable to other soft materials including elastomers and organogels. Overall, the review will not only provide comprehensive and systematic guidelines on the rational design of soft materials, but also provoke interdisciplinary discussions on a fundamental question: why does nature select soft materials with unconventional polymer networks to constitute the major parts of animal bodies?
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Affiliation(s)
- Xuanhe Zhao
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States.,Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Xiaoyu Chen
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Hyunwoo Yuk
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Shaoting Lin
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - Xinyue Liu
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
| | - German Parada
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139, United States
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59
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Yang Z, Yang L, Zhang M, Wang Q, Simon CH, Zhang L. Magnetic Control of a Steerable Guidewire Under Ultrasound Guidance Using Mobile Electromagnets. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3057295] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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60
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Lin D, Jiao N, Wang Z, Liu L. A Magnetic Continuum Robot With Multi-Mode Control Using Opposite-Magnetized Magnets. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3061376] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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61
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Richter M, Venkiteswaran VK, Misra S. Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3064285] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/16/2023]
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62
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Ma C, Wu S, Ze Q, Kuang X, Zhang R, Qi HJ, Zhao R. Magnetic Multimaterial Printing for Multimodal Shape Transformation with Tunable Properties and Shiftable Mechanical Behaviors. ACS APPLIED MATERIALS & INTERFACES 2021; 13:12639-12648. [PMID: 32897697 DOI: 10.1021/acsami.0c13863] [Citation(s) in RCA: 46] [Impact Index Per Article: 15.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/19/2023]
Abstract
Magnetic soft materials (MSMs) have shown potential in soft robotics, actuators, metamaterials, and biomedical devices because they are capable of untethered, fast, and reversible shape reconfigurations as well as controllable dynamic motions under applied magnetic fields. Recently, magnetic shape memory polymers (M-SMPs) that incorporate hard magnetic particles in shape memory polymers demonstrated superior shape manipulation performance by realizing reprogrammable, untethered, fast, and reversible shape transformation and shape locking in one material system. In this work, we develop a multimaterial printing technology for the complex structural integration of MSMs and M-SMPs to explore their enhanced multimodal shape transformation and tunable properties. By cooperative thermal and magnetic actuation, we demonstrate multiple deformation modes with distinct shape configurations, which further enable active metamaterials with tunable physical properties such as sign-change Poisson's ratio. Because of the multiphysics response of the M-MSP/MSM metamaterials, one distinct feature is their capability of shifting between various global mechanical behaviors such as expansion, contraction, shear, and bending. We anticipate that the multimaterial printing technique opens new avenues for the fabrication of multifunctional magnetic materials.
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Affiliation(s)
- Chunping Ma
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Shuai Wu
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Qiji Ze
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - Xiao Kuang
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
| | - Rundong Zhang
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia 30332, United States
| | - Ruike Zhao
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, Ohio 43210, United States
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63
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Lim A, Schonewille A, Forbrigger C, Looi T, Drake J, Diller E. Design and Comparison of Magnetically-Actuated Dexterous Forceps Instruments for Neuroendoscopy. IEEE Trans Biomed Eng 2021; 68:846-856. [PMID: 32746054 DOI: 10.1109/tbme.2020.3007581] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022]
Abstract
Robot-assisted minimally invasive surgical (MIS) techniques offer improved instrument precision and dexterity, reduced patient trauma and risk, and promise to lessen the skill gap among surgeons. These approaches are common in general surgery, urology, and gynecology. However, MIS techniques remain largely absent for surgical applications within narrow, confined workspaces, such as neuroendoscopy. The limitation stems from a lack of small yet dexterous robotic tools. In this work, we present the first instance of a surgical robot with a direct magnetically-driven end effector capable of being deployed through a standard neuroendoscopic working channel (3.2 mm outer diameter) and operate at the neuroventricular scale. We propose a physical model for the gripping performance of three unique end-effector magnetization profiles and mechanical designs. Rates of blocking force per external magnetic flux density magnitude were 0.309 N/T, 0.880 N/T, and 0.351 N/T for the three designs which matched the physical model's prediction within 14.9% error. The rate of gripper closure per external magnetic flux density had a mean percent error of 11.2% compared to the model. The robot's performance was qualitatively evaluated during a pineal region tumor resection on a tumor analogue in a silicone brain phantom. These results suggest that wireless magnetic actuation may be feasible for dexterously manipulating tissue during minimally invasive neurosurgical procedures.
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64
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Zhang T, Yang L, Yang X, Tan R, Lu H, Shen Y. Millimeter-Scale Soft Continuum Robots for Large-Angle and High-Precision Manipulation by Hybrid Actuation. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2021; 3:2000189. [PMID: 33349814 PMCID: PMC7744893 DOI: 10.1002/aisy.202000189] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/12/2020] [Revised: 09/25/2020] [Indexed: 05/07/2023]
Abstract
Developing small-scale soft continuum robots with large-angle steering capacity and high-precision manipulation offers broad opportunities in various biomedical settings. However, existing continuum robots reach the bottleneck in actuation on account of the contradiction among small size, compliance actuation, large tender range, high precision, and small dynamic error. Herein, a 3D-printed millimeter-scale soft continuum robot with an ultrathin hollow skeleton wall (300 μm) and a large inner-to-outer ratio (0.8) is reported. After coating a thin ferromagnetic elastomer layer (≈100-150 μm), the proposed soft continuum robot equipped with hybrid actuation (tendon- and magnetic-driven mode) achieves large-angle (up to 100°) steering and high-precision (low to 2 μm for static positioning) micromanipulation simultaneously. Specifically, the robot implements an ultralow dynamic tracking error of ≈10 μm, which is ≈30-fold improved than the state of art. Combined with a microneedle/knife or nasopharyngeal swab, the robot reveals the potential for versatile biomedical applications, such as drug injection on the target tissue, diseased tissue ablation, and COVID-19 nasopharyngeal sampling. The proposed millimeter-scale soft continuum robot presents remarkable advances in large-range and high-precise actuation, which provides a new method for miniature continuum robot design and finds broad applications in biomedical engineering.
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Affiliation(s)
- Tieshan Zhang
- Department of Biomedical EngineeringCity University of Hong KongTat Chee AvenueKowloonHong KongChina
| | - Liu Yang
- Department of Biomedical EngineeringCity University of Hong KongTat Chee AvenueKowloonHong KongChina
| | - Xiong Yang
- Department of Biomedical EngineeringCity University of Hong KongTat Chee AvenueKowloonHong KongChina
| | - Rong Tan
- Department of Biomedical EngineeringCity University of Hong KongTat Chee AvenueKowloonHong KongChina
| | - Haojian Lu
- Department of Biomedical EngineeringCity University of Hong KongTat Chee AvenueKowloonHong KongChina
- The State Key Laboratory of Industrial Control and TechnologyZhejiang UniversityHangzhou310027China
| | - Yajing Shen
- Department of Biomedical EngineeringCity University of Hong KongTat Chee AvenueKowloonHong KongChina
- Shenzhen Research Institute of City University of Hong KongShenzhen518057China
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65
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Salmanipour S, Youssefi O, Diller ED. Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2020.3016511] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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66
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67
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Flow driven robotic navigation of microengineered endovascular probes. Nat Commun 2020; 11:6356. [PMID: 33353938 PMCID: PMC7755921 DOI: 10.1038/s41467-020-20195-z] [Citation(s) in RCA: 35] [Impact Index Per Article: 8.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/15/2020] [Accepted: 11/11/2020] [Indexed: 02/07/2023] Open
Abstract
Minimally invasive medical procedures, such as endovascular catheterization, have considerably reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain inaccessible due to the lack of appropriate guidance technologies. Here, experimentally and through numerical simulations, we show that tethered ultra-flexible endovascular microscopic probes can be transported through tortuous vascular networks with minimal external intervention by harnessing hydrokinetic energy. Dynamic steering at bifurcations is performed by deformation of the probe head using magnetic actuation. We developed an endovascular microrobotic toolkit with a cross-sectional area that is orders of magnitude smaller than the smallest catheter currently available. Our technology has the potential to improve state-of-the-art practices as it enhances the reachability, reduces the risk of iatrogenic damage, significantly increases the speed of robot-assisted interventions, and enables the deployment of multiple leads simultaneously through a standard needle injection and saline perfusion. The navigation of catheters through blood vessels requires flexible guiding wires that are pushable and tractable at the same time. Pancaldi et al. rely on hydrodynamic forces and magnetic torque in order to access even rather small capillaries with an ultraflexible magnetomechanical probe.
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68
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Chen J, Wang Y. Personalized dynamic transport of magnetic nanorobots inside the brain vasculature. NANOTECHNOLOGY 2020; 31:495706. [PMID: 33016261 DOI: 10.1088/1361-6528/abb392] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Delivering specific bioactive agents with sufficient bioavailability to the targeted brain area across blood brain barrier remains a big challenge. Magnetically driven nanorobots have demonstrated their potential for controlled drug delivery. However, the dynamic transport of these nanorobots inside each individual's brain vasculature is not yet well studied. Addressing this is a critical step forward to controlled drug delivery for non-invasive brain therapeutics. In this paper, we develop an analytical model describing the personalized dynamic transport of spherical magnetic nanorobots inside the brain vasculature reconstructed from the patient's angiography images. By inverting the transporting process, we first design the patient-specific transport path based on the reconstructed vascular model, and then calculate the magnetic force required to drive these nanorobots from the analytical model. Also, a finite element model is created to simulate the inverse design process, which implies that the delivery efficiency of these magnetically driven nanorobots to the targeted brain area can be increased by 20% and almost 95% nanorobots arrive at the desired vessel walls. In the end, a simplified brain vascular model is printed using PolyJet 3D 750 to demonstrate the dynamic transport of these nanorobots toward the targeted site. The proposed theoretical modeling, numerical simulation and experimental validation lay solid foundation toward non-invasive brain therapeutics with maximal accuracy and minimal side effects.
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Affiliation(s)
- Jingfan Chen
- J. Mike Walker' 66 Department of Mechanical Engineering, Texas A&M University, College Station, United States of America
| | - Ya Wang
- J. Mike Walker' 66 Department of Mechanical Engineering, Texas A&M University, College Station, United States of America
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Bira N, Dhagat P, Davidson JR. A Review of Magnetic Elastomers and Their Role in Soft Robotics. Front Robot AI 2020; 7:588391. [PMID: 33501346 PMCID: PMC7805737 DOI: 10.3389/frobt.2020.588391] [Citation(s) in RCA: 29] [Impact Index Per Article: 7.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2020] [Accepted: 09/22/2020] [Indexed: 12/31/2022] Open
Abstract
Soft robotics as a field of study incorporates different mechanisms, control schemes, as well as multifunctional materials to realize robots able to perform tasks inaccessible to traditional rigid robots. Conventional methods for controlling soft robots include pneumatic or hydraulic pressure sources, and some more recent methods involve temperature and voltage control to enact shape change. Magnetism was more recently introduced as a building block for soft robotic design and control, with recent publications incorporating magnetorheological fluids and magnetic particles in elastomers, to realize some of the same objectives present in more traditional soft robotics research. This review attempts to organize and emphasize the existing work with magnetism and soft robotics, specifically studies on magnetic elastomers, while highlighting potential avenues for further research enabled by these advances.
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Affiliation(s)
- Nicholas Bira
- Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United States
| | - Pallavi Dhagat
- School of Electrical Engineering and Computer Science, Oregon State University, Corvallis, OR, United States
| | - Joseph R. Davidson
- Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR, United States
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Sharifi N, Ali M, Holmes G, Chen Y. Blind Obstacle Avoidance Using Taxicab Geometry for NanorobotAssisted Direct Drug Targeting. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2020; 2020:4700-4703. [PMID: 33019041 DOI: 10.1109/embc44109.2020.9175165] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
In this paper, we present a novel controller for steering nanorobots in lattice-like vessel systems while avoiding potential obstacles such as the vessel walls without any prior knowledge of the obstacles' positions. The proposed control method consists of two sub-modules, namely a blind obstacle avoidance (BOA) and a model predictive control (MPC). In the case that a nanorobot might encounter an obstacle on its path, the BOA module is activated, which gives rise to a desirable heading angle to change the direction of the nanorobot's movement to bypass the obstacle. On the other hand, the MPC module offers a series of actuating field's directions that control the nanorobots' movement in the blood vessel with a grid structure representing potential paths of vascular growth, and introduces a repulsive boundary function to stop nanorobots from getting too close to the boundaries. This new formulation offers successful control and steering of nanorobots while avoiding obstacles in a blind manner by taking into account realistic in vivo physical constraints. Simulation results demonstrate the effectiveness of the proposed feedback control design.
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Dong D, Lam WS, Sun D. Electromagnetic Actuation of Microrobots in a Simulated Vascular Structure With a Position Estimator Based Motion Controller. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.3013846] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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72
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Shen Z, Chen F, Zhu X, Yong KT, Gu G. Stimuli-responsive functional materials for soft robotics. J Mater Chem B 2020; 8:8972-8991. [PMID: 32901646 DOI: 10.1039/d0tb01585g] [Citation(s) in RCA: 68] [Impact Index Per Article: 17.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2024]
Abstract
Functional materials have spurred the advancement of soft robotics with the potential to perform safe interactions and adaptative functions in unstructured environments. The responses of functional materials under external stimuli lend themselves to programmable actuation and sensing, opening up new possibilities of robot design with built-in mechanical intelligence and unlocking new applications. Here, we review the development of stimuli-responsive functional materials particularly used for soft robotic systems. This review covers five representative types of soft stimuli-responsive functional materials, namely (i) dielectric elastomers, (ii) hydrogels, (iii) shape memory polymers, (iv) liquid crystal elastomers, and (v) magnetic materials, with focuses on their inherent material properties, working mechanisms, and design strategies for actuation and sensing. We also highlight the state-of-the-art applications of soft stimuli-responsive functional materials in locomotion robots, grippers and sensors. Finally, we summarize the current challenges and map out future trends for engineering next-generation functional materials for soft robotics.
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Affiliation(s)
- Zequn Shen
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Feifei Chen
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Xiangyang Zhu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Ken-Tye Yong
- School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore.
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
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73
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Niu H, Feng R, Xie Y, Jiang B, Sheng Y, Yu Y, Baoyin H, Zeng X. MagWorm: A Biomimetic Magnet Embedded Worm-Like Soft Robot. Soft Robot 2020; 8:507-518. [PMID: 32822273 DOI: 10.1089/soro.2019.0167] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/30/2022] Open
Abstract
Emerging worm-like soft robots with various soft materials and different actuation mechanism have been frequently discussed. It is very challenging for soft robots in realizing a fast and untethered crawling. In this article, a biomimetic magnet embedded worm-like robot (shorted as "MagWorm") in the size of centimeter level is designed and investigated. The actuation of the MagWorm is achieved by housing permanent magnetic patches in its soft body, which interact with an external moving drive-magnet system. A dynamic model is established, coupling the discrete elastic rod model with magnetic actuation. The driving mechanism is then numerically studied. Quantitative comparisons between the numerical solution and experiment results show reasonable agreement. It is shown that the MagWorm can deform part of its body into a "Ω" shape and generate biomimetic crawling locomotion. The crawling speed of the robot is studied experimentally with different sizes. Some potential applications are also proposed and demonstrated. The MagWorm represents compact and low-cost solutions that use permanent magnets for remote actuation of soft robot and can be continuously operated during long procedures.
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Affiliation(s)
- Hanqing Niu
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Ruoyu Feng
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Yuwei Xie
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Bowen Jiang
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Yongzhi Sheng
- School of Automation, Beijing Institute of Technology, Beijing, China
| | - Yang Yu
- School of Aeronautic Science and Engineering, Beihang University, Beijing, China
| | - Hexi Baoyin
- School of Aerospace Engineering, Tsinghua University, Beijing, China
| | - Xiangyuan Zeng
- School of Automation, Beijing Institute of Technology, Beijing, China
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da Veiga T, Chandler JH, Lloyd P, Pittiglio G, Wilkinson NJ, Hoshiar AK, Harris RA, Valdastri P. Challenges of continuum robots in clinical context: a review. ACTA ACUST UNITED AC 2020. [DOI: 10.1088/2516-1091/ab9f41] [Citation(s) in RCA: 40] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
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75
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Gao A, Liu N, Shen M, E.M.K. Abdelaziz M, Temelkuran B, Yang GZ. Laser-Profiled Continuum Robot with Integrated Tension Sensing for Simultaneous Shape and Tip Force Estimation. Soft Robot 2020; 7:421-443. [DOI: 10.1089/soro.2019.0051] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Anzhu Gao
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, P.R. China
- Department of Automation, Shanghai Jiao Tong University, Shanghai, P.R. China
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom
| | - Ning Liu
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom
| | - Mali Shen
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom
| | | | - Burak Temelkuran
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom
| | - Guang-Zhong Yang
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, P.R. China
- The Hamlyn Centre for Robotic Surgery, Imperial College London, London, United Kingdom
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76
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Lloyd P, Hoshiar AK, da Veiga T, Attanasio A, Marahrens N, Chandler JH, Valdastri P. A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2983704] [Citation(s) in RCA: 21] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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77
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Khalesi R, Nejat Pishkenari H, Vossoughi G. Independent control of multiple magnetic microrobots: design, dynamic modelling, and control. JOURNAL OF MICRO-BIO ROBOTICS 2020. [DOI: 10.1007/s12213-020-00136-1] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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78
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Lee JS, Kim JY, Jung C, Woo SJ. Iatrogenic ophthalmic artery occlusion and retinal artery occlusion. Prog Retin Eye Res 2020; 78:100848. [PMID: 32165219 DOI: 10.1016/j.preteyeres.2020.100848] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2019] [Revised: 03/03/2020] [Accepted: 03/04/2020] [Indexed: 01/19/2023]
Abstract
Iatrogenic ophthalmic artery occlusion (IOAO) is a rare but devastating ophthalmic disease that may cause sudden and permanent visual loss. Understanding the possible etiologic modalities and pathogenic mechanisms of IOAO may prevent its occurrence. There are numerous medical etiologies of IOAO, including cosmetic facial filler injection, intravascular procedures, intravitreal gas or drug injection, retrobulbar anesthesia, intraarterial chemotherapy in retinoblastoma. Non-ocular surgeries and vascular events in arteries that are not directly associated with the ophthalmic artery, can also cause IOAO. Since IOAO has a limited number of treatment modalities, which lead to poor final visual prognosis, it is imperative to acknowledge the information regarding medical procedures that are etiologically associated with IOAO. We accumulated all searchable and available IOAO case reports (our cases and previous reported cases from the literature), classified them according to their mechanisms of pathogenesis, and summarized treatment options and responses of each of the causes. Various sporadic cases of IOAO can be categorized into three mechanisms as follows: intravascular event, orbital compartment syndrome, and increased intraocular pressure. Embolic IOAO, which is considered the primary cause of the condition, was classified into three subgroups according to the pathway of embolic movement (retrograde pathway, anterograde pathway, pathway through collateral channels). Despite the practical limitations of treating spontaneous (non-iatrogenic) retinal artery occlusion, this article will contribute in predicting and improving the prognosis of IOAO by recognizing the treatable factors. Furthermore, it is expected to provide clues to future research associated with the treatment of retinal artery occlusion.
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Affiliation(s)
- Jong Suk Lee
- Department of Ophthalmology, Seoul National University College of Medicine, Seoul National University Bundang Hospital, Seongnam, Republic of Korea
| | - Jun Yup Kim
- Department of Neurology, Seoul National University College of Medicine, Cerebrovascular Center, Seoul National University Bundang Hospital, Seongnam, Republic of Korea
| | - Cheolkyu Jung
- Department of Radiology, Seoul National University College of Medicine, Seoul National University Bundang Hospital, Seongnam, Republic of Korea
| | - Se Joon Woo
- Department of Ophthalmology, Seoul National University College of Medicine, Seoul National University Bundang Hospital, Seongnam, Republic of Korea.
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79
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Kim Y, Park JE, Wie JJ, Yang SG, Lee DH, Jin YJ. Effects of Helix Geometry on Magnetic Guiding of Helical Polymer Composites on a Gastric Cancer Model: A Feasibility Study. MATERIALS (BASEL, SWITZERLAND) 2020; 13:E1014. [PMID: 32102338 PMCID: PMC7078772 DOI: 10.3390/ma13041014] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/04/2020] [Revised: 02/19/2020] [Accepted: 02/21/2020] [Indexed: 12/19/2022]
Abstract
This study investigates the effects of soft-robot geometry on magnetic guiding to develop an efficient helical mediator on a three-dimensional (3D) gastric cancer model. Four different magnetically active helical soft robots are synthesized by the inclusion of 5-μm iron particles in polydimethylsiloxane matrices. The soft robots are named based on the diameter and length (D2-L15, D5-L20, D5-L25, and D5-L35) with samples having varied helical pitch and weight values. Then, the four samples are tested on a flat surface as well as a stomach model with various 3D wrinkles. We analyze the underlying physics of intermittent magnetomotility for the helix on a flat surface. In addition, we extract representative failure cases of magnetomotility on the stomach model. The D5-L25 sample was the most suitable among the four samples for a helical soft robot that can be moved to a target lesion by the magnetic-flux density of the stomach model. The effects of diameter, length, pitch, and weight of a helical soft robot on magnetomotility are discussed in order for the robot to reach the target lesion successfully via magnetomotility.
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Affiliation(s)
- Yongju Kim
- Department of Polymer Science and Engineering, Inha University, Incheon 22212, Korea; (Y.K.); (J.E.P.)
| | - Jeong Eun Park
- Department of Polymer Science and Engineering, Inha University, Incheon 22212, Korea; (Y.K.); (J.E.P.)
| | - Jeong Jae Wie
- Department of Polymer Science and Engineering, Inha University, Incheon 22212, Korea; (Y.K.); (J.E.P.)
| | - Su Geun Yang
- Department of New Drug Development, Inha University, School of Medicine, Incheon 22212, Korea;
| | - Don Haeng Lee
- Division of Gastroenterology, Department of Internal Medicine, Inha University Hospital, Inha University School of Medicine, Incheon 22332, Korea;
- The National Center of Efficacy Evaluation for the Development of Health Products Targeting Digestive Disorders (NCEED), Incheon 22332, Korea
- Utah-Inha DDS & Advanced Therapeutics Research Center, Incheon 22332, Korea
| | - Young-Joo Jin
- Division of Gastroenterology, Department of Internal Medicine, Inha University Hospital, Inha University School of Medicine, Incheon 22332, Korea;
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Abstract
Needle steering is a technology for guiding needles around sensitive internal obstacles in minimally invasive surgery. Traditional techniques apply rotation at the base of a needle with an asymmetric tip, enabling steering through the redirection of radial forces. Magnetic steering of catheters and continuum manipulators is another technology that allows steering of a shaft in the body. Both of these techniques rely on mechanical or manual shaft advancement methods. Needle steering has not achieved widespread clinical use due to several limitations: 1- buckling and compression effects in the shaft and needle rotation cause excessive tissue damage; 2- torsion effects on the shaft and needle deflection at tissue boundaries lead to difficulty in control; and 3- restricted radius of curvature results in limited workspace. Magnetically steered catheters and continuum manipulators also suffer from limited curvature and the possibility of buckling. This paper proposes a novel needle steering method empowered by electromagnetic actuation that overcomes all of the aforementioned limitations, making it a promising option for further study toward healthcare applications.
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81
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Hwang J, Kim JY, Choi H. A review of magnetic actuation systems and magnetically actuated guidewire- and catheter-based microrobots for vascular interventions. INTEL SERV ROBOT 2020. [DOI: 10.1007/s11370-020-00311-0] [Citation(s) in RCA: 15] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
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82
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Fan M, Liu X, Jain K, Lerner D, Mair LO, Weinberg IN, Diaz-Mercado Y, Krieger A. Towards Autonomous Control of Magnetic Suture Needles. PROCEEDINGS OF THE ... IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS. IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS 2020; 2020:10.1109/iros45743.2020.9341425. [PMID: 34457374 PMCID: PMC8389736 DOI: 10.1109/iros45743.2020.9341425] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
This paper proposes a magnetic needle steering controller to manipulate mesoscale magnetic suture needles for executing planned suturing motion. This is an initial step towards our research objective: enabling autonomous control of magnetic suture needles for suturing tasks in minimally invasive surgery. To demonstrate the feasibility of accurate motion control, we employ a cardinally-arranged four-coil electromagnetic system setup and control magnetic suture needles in a 2-dimensional environment, i.e., a Petri dish filled with viscous liquid. Different from only using magnetic field gradients to control small magnetic agents under high damping conditions, the dynamics of a magnetic suture needle are investigated and encoded in the controller. Based on mathematical formulations of magnetic force and torque applied on the needle, we develop a kinematically constrained dynamic model that controls the needle to rotate and only translate along its central axis for mimicking the behavior of surgical sutures. A current controller of the electromagnetic system combining with closed-loop control schemes is designed for commanding the magnetic suture needles to achieve desired linear and angular velocities. To evaluate control performance of magnetic suture needles, we conduct experiments including needle rotation control, needle position control by using discretized trajectories, and velocity control by using a time-varying circular trajectory. The experiment results demonstrate our proposed needle steering controller can perform accurate motion control of mesoscale magnetic suture needles.
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Affiliation(s)
- Matthew Fan
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Xiaolong Liu
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Kamakshi Jain
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Daniel Lerner
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Lamar O Mair
- Weinberg Medical Physics, Inc., North Bethesda, Maryland 20852 USA
| | | | - Yancy Diaz-Mercado
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
| | - Axel Krieger
- Department of Mechanical Engineering, University of Maryland, College Park, and the Maryland Robotics Center, College Park, Maryland 20742 USA
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83
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Azizi A, Tremblay CC, Gagné K, Martel S. Using the fringe field of a clinical MRI scanner enables robotic navigation of tethered instruments in deeper vascular regions. Sci Robot 2019; 4:4/36/eaax7342. [PMID: 33137734 DOI: 10.1126/scirobotics.aax7342] [Citation(s) in RCA: 32] [Impact Index Per Article: 6.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/04/2019] [Accepted: 10/29/2019] [Indexed: 12/24/2022]
Abstract
Navigating tethered instruments through the vasculatures to reach deeper physiological locations presently inaccessible would extend the applicability of many medical interventions, including but not limited to local diagnostics, imaging, and therapies. Navigation through narrower vessels requires minimizing the diameter of the instrument, resulting in a decrease of its stiffness until steerability becomes unpractical, while pushing the instrument at the insertion site to counteract the friction forces from the vessel walls caused by the bending of the instrument. To reach beyond the limit of using a pushing force alone, we report a method relying on a complementary directional pulling force at the tip created by gradients resulting from the magnetic fringe field emanating outside a clinical magnetic resonance imaging (MRI) scanner. The pulling force resulting from gradients exceeding 2 tesla per meter in a space that supports human-scale interventions allows the use of smaller magnets, such as the deformable spring as described here, at the tip of the instrument. Directional forces are achieved by robotically positioning the patient at predetermined successive locations inside the fringe field, a method that we refer to as fringe field navigation (FFN). We show through in vitro and in vivo experiments that x-ray-guided FFN could navigate microguidewires through complex vasculatures well beyond the limit of manual procedures and existing magnetic platforms. Our approach facilitated miniaturization of the instrument by replacing the torque from a relatively weak magnetic field with a configuration designed to exploit the superconducting magnet-based directional forces available in clinical MRI rooms.
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Affiliation(s)
- Arash Azizi
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada
| | - Charles C Tremblay
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada
| | - Kévin Gagné
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada
| | - Sylvain Martel
- Nanorobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, QC, Canada.
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85
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Gyak K, Jeon S, Ha L, Kim S, Kim J, Lee K, Choi H, Kim D. Magnetically Actuated SiCN-Based Ceramic Microrobot for Guided Cell Delivery. Adv Healthc Mater 2019; 8:e1900739. [PMID: 31596550 DOI: 10.1002/adhm.201900739] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/09/2019] [Revised: 09/18/2019] [Indexed: 01/22/2023]
Abstract
A silicon carbonitride (SICN) ceramic microrobot, biocompatible and magnetically activable, is developed for the delivery of viable cells to defective tissue by sequential steps of microstructuring, magnetization, and cell loading. The ceramic carrier of porous cylindrical framework is fabricated by 3D laser lithography using a photocurable preceramic polymer, chemically modified polyvinylsilazane, and subsequent pyrolysis at 600 °C under an inert atmosphere. Magnetic nanoparticles (MNP) are integrated into the surface-modified ceramic carrier by thiol-ene click reaction. Finally, the microrobot is loaded with fibroblast cells, which can be guided by a rotating external magnetic field. The proposed ceramic microrobot is mechanically durable, adequately controllable with external magnetic field, and quite compatible with mammalian cells.
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Affiliation(s)
- Ki‐Won Gyak
- Center for Intelligent Microprocess of Pharmaceutical SynthesisDepartment of Chemical EngineeringPohang University of Science and Technology (POSTECH) Pohang 37673 Republic of Korea
| | - Sungwoong Jeon
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐eup, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Laura Ha
- Center for Intelligent Microprocess of Pharmaceutical SynthesisDepartment of Chemical EngineeringPohang University of Science and Technology (POSTECH) Pohang 37673 Republic of Korea
| | - Sangwon Kim
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐eup, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Jin‐young Kim
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐eup, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Kwang‐Sup Lee
- Department of Advanced Materials and Chemical EngineeringHannam University Daejeon 34430 South Korea
| | - Hongsoo Choi
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐eup, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Dong‐Pyo Kim
- Center for Intelligent Microprocess of Pharmaceutical SynthesisDepartment of Chemical EngineeringPohang University of Science and Technology (POSTECH) Pohang 37673 Republic of Korea
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86
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Wang J, Jiao N, Tung S, Liu L. Target clamping and cooperative motion control of ant robots. BIOINSPIRATION & BIOMIMETICS 2019; 14:066015. [PMID: 31557748 DOI: 10.1088/1748-3190/ab4839] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Carpenter ants possess the characteristics of division of labor, communication between individuals, cooperation, and the ability to solve problems. Inspired by the carpenter ant, we designed electromagnetically controlled ant millirobots that can move, clamp, and work cooperatively. The robot can receive power wirelessly to actuate its ionic polymer-metal composite gripper. Further, two robots can be controlled to manipulate small components individually or cooperatively. Dual-robot manipulation is found to take 76.7% of the time required for single-robot manipulation. The results show that complicated manipulation can be performed by robots that are multifunctional and flexible by utilizing electromagnetic actuation, intelligent materials, and wireless power transmission.
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Affiliation(s)
- Jingyi Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, People's Republic of China. University of Chinese Academy of Sciences, Beijing 100049, People's Republic of China
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87
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Park J, Lee C, Lee J, Ha JI, Choi H, Chang JH. Magnetically Actuated Forward-Looking Interventional Ultrasound Imaging: Feasibility Studies. IEEE Trans Biomed Eng 2019; 67:1797-1805. [PMID: 31634823 DOI: 10.1109/tbme.2019.2948391] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
OBJECTIVE Interventional ultrasound imaging is a prerequisite for guiding implants and treatment within the hearts and blood vessels. Due to limitations on the catheter's diameter, interventional ultrasonic transducers have side-looking structures although forward-looking imaging may provide more intuitive and real time guidance in treating diseased sites ahead of catheters. To address the issue, a magnetically actuated forward-looking interventional ultrasound imaging device is implemented for the first time. METHODS A forward-looking catheter containing a 1 mm ring type focused 35 MHz ultrasound transducer and a micro magnet, was fabricated. For imaging, the transducer was placed at the center of four electromagnetic coils positioned on four sides of a squared acrylic housing. By modifying the magnetic field, the catheter tip could be remotely translated for sector scanning. RESULTS The scanning angle could reach up to 3° in 1 Hz with 15 mT, while wider angles of 5° could be achieved with a higher magnetic field of 25 mT for ex-vivo imaging. The position of the transducer could be detected by monitoring the motion with a CCD camera, mimicking clinical X-ray imaging. In the wire target and tissue mimicking phantom studies, the measured hole size, spatial resolution and distance between wires by the proposed system were comparable with the values from a linear scanner. Multi-frame real time data acquisition was demonstrated via ex-vivo imaging on a pig's coronary artery. CONCLUSION/SIGNIFICANCE The feasibility of magnetically actuated forward-looking interventional ultrasound imaging was demonstrated. The remote-controlled scanning method may allow to simplify the structures of forward-looking interventional ultrasound imaging catheters.
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88
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Barducci L, Pittiglio G, Norton JC, Obstein KL, Valdastri P. Adaptive Dynamic Control for Magnetically Actuated Medical Robots. IEEE Robot Autom Lett 2019; 4:3633-3640. [PMID: 31406915 PMCID: PMC6690374 DOI: 10.1109/lra.2019.2928761] [Citation(s) in RCA: 24] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023]
Abstract
In the present work we discuss a novel dynamic control approach for magnetically actuated robots, by proposing an adaptive control technique, robust towards parametric uncertainties and unknown bounded disturbances. The former generally arise due to partial knowledge of the robots' dynamic parameters, such as inertial factors, the latter are the outcome of unpredictable interaction with unstructured environments. In order to show the application of the proposed approach, we consider controlling the Magnetic Flexible Endoscope (MFE) which is composed of a soft-tethered Internal Permanent Magnet (IPM), actuated with a single External Permanent Magnet (EPM). We provide with experimental analysis to show the possibility of levitating the MFE - one of the most difficult tasks with this platform - in case of partial knowledge of the IPM's dynamics and no knowledge of the tether's behaviour. Experiments in an acrylic tube show a reduction of contact of the 32% compared to non-levitating techniques and 1.75 times faster task completion with respect to previously proposed levitating techniques. More realistic experiments, performed in a colon phantom, show that levitating the capsule achieves faster and smoother exploration and that the minimum time for completing the task is attained by the proposed approach.
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Affiliation(s)
- Lavinia Barducci
- STORM Lab UK, Institute of Robotics, Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK
| | - Giovanni Pittiglio
- STORM Lab UK, Institute of Robotics, Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK
| | - Joseph C Norton
- STORM Lab UK, Institute of Robotics, Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK
| | - Keith L Obstein
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, USA, and with the STORM Lab, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Pietro Valdastri
- STORM Lab UK, Institute of Robotics, Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK
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89
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Kim Y, Parada GA, Liu S, Zhao X. Ferromagnetic soft continuum robots. Sci Robot 2019; 4:4/33/eaax7329. [DOI: 10.1126/scirobotics.aax7329] [Citation(s) in RCA: 381] [Impact Index Per Article: 76.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2019] [Accepted: 08/05/2019] [Indexed: 12/16/2022]
Abstract
Small-scale soft continuum robots capable of active steering and navigation in a remotely controllable manner hold great promise in diverse areas, particularly in medical applications. Existing continuum robots, however, are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms, such as pulling mechanical wires, inflating pneumatic or hydraulic chambers, or embedding rigid magnets for manipulation. In addition, the friction experienced by the continuum robots during navigation poses another challenge for their applications. Here, we present a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. The robot’s body, composed of a homogeneous continuum of a soft polymer matrix with uniformly dispersed ferromagnetic microparticles, can be miniaturized below a few hundreds of micrometers in diameter, and the hydrogel skin reduces the friction by more than 10 times. We demonstrate the capability of navigating through complex and constrained environments, such as a tortuous cerebrovascular phantom with multiple aneurysms. We further demonstrate additional functionalities, such as steerable laser delivery through a functional core incorporated in the robot’s body. Given their compact, self-contained actuation and intuitive manipulation, our ferromagnetic soft continuum robots may open avenues to minimally invasive robotic surgery for previously inaccessible lesions, thereby addressing challenges and unmet needs in healthcare.
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90
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Park J, Jin C, Lee S, Kim J, Choi H. Magnetically Actuated Degradable Microrobots for Actively Controlled Drug Release and Hyperthermia Therapy. Adv Healthc Mater 2019; 8:e1900213. [PMID: 31290597 DOI: 10.1002/adhm.201900213] [Citation(s) in RCA: 63] [Impact Index Per Article: 12.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/15/2019] [Revised: 05/21/2019] [Indexed: 11/07/2022]
Abstract
Microrobots facilitate targeted therapy due to their small size, minimal invasiveness, and precise wireless control. A degradable hyperthermia microrobot (DHM) with a 3D helical structure is developed, enabling actively controlled drug delivery, release, and hyperthermia therapy. The microrobot is made of poly(ethylene glycol) diacrylate (PEGDA) and pentaerythritol triacrylate (PETA) and contains magnetic Fe3 O4 nanoparticles (MNPs) and 5-fluorouracil (5-FU). Its locomotion is remotely and precisely controlled by a rotating magnetic field (RMF) generated by an electromagnetic actuation system. Drug-free DHMs reduce the viability of cancer cells by elevating the temperature under an alternating magnetic field (AMF), a hyperthermic effect. 5-FU is released from the proposed DHMs in normal-, high-burst-, and constant-release modes, controlled by the AMF. Finally, actively controlled drug release from the DHMs in normal- and high-burst-release mode results in a reduction in cell viability. The reduction in cell viability is of greater magnitude in high-burst- than in normal-release mode. In summary, biodegradable DHMs have potential for actively controlled drug release and hyperthermia therapy.
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Affiliation(s)
- Jongeon Park
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐Myeon, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Chaewon Jin
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐Myeon, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Seungmin Lee
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐Myeon, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Jin‐Young Kim
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐Myeon, Dalseong‐Gun Daegu 42988 Republic of Korea
| | - Hongsoo Choi
- Department of Robotics EngineeringDGIST‐ETH Microrobot Research CenterDaegu Gyeongbuk Institute of Science and Technology (DGIST) 333, Techno jungang‐daero, Hyeonpung‐Myeon, Dalseong‐Gun Daegu 42988 Republic of Korea
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91
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Pittiglio G, Barducci L, Martin JW, Norton JC, Avizzano CA, Obstein KL, Valdastri P. Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach. IEEE Robot Autom Lett 2019; 4:1224-1231. [PMID: 31304240 DOI: 10.1109/lra.2019.2894907] [Citation(s) in RCA: 47] [Impact Index Per Article: 9.4] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
The present letter investigates a novel control approach for magnetically driven soft-tethered capsules for colonoscopy-a potentially painless approach for colon inspection. The focus of this work is on a class of devices composed of a magnetic capsule endoscope actuated by a single external permanent magnet. Actuation is achieved by manipulating the external magnet with a serial manipulator, which in turn produces forces and torques on the internal magnetic capsule. We propose a control strategy which, counteracting gravity, achieves levitation of the capsule. This technique, based on a nonlinear backstepping approach, is able to limit contact with the colon walls, reducing friction, avoiding contact with internal folds, and facilitating the inspection of nonplanar cavities. The approach is validated on an experimental setup, which embodies a general scenario faced in colonoscopy. The experiments show that we can attain 19.5% of contact with the colon wall, compared to the almost 100% of previously proposed approaches. Moreover, we show that the control can be used to navigate the capsule through a more realistic environment-a colon phantom-with reasonable completion time.
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Affiliation(s)
- Giovanni Pittiglio
- STORM Lab UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, U.K
| | - Lavinia Barducci
- STORM Lab UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, U.K
| | - James W Martin
- STORM Lab UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, U.K
| | - Joseph C Norton
- STORM Lab UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, U.K
| | - Carlo A Avizzano
- Perceptual Robotics Laboratory, Scuola Superiore SantAnna, Pisa 56100, Italy
| | - Keith L Obstein
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN 37232 USA; STORM Lab, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA
| | - Pietro Valdastri
- STORM Lab UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds LS2 9JT, U.K
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92
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Jeon S, Hoshiar AK, Kim S, Lee S, Kim E, Lee S, Kim K, Lee J, Kim JY, Choi H. Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot. MICRO AND NANO SYSTEMS LETTERS 2018. [DOI: 10.1186/s40486-018-0077-y] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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93
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Kafash Hoshiar A, Jeon S, Kim K, Lee S, Kim JY, Choi H. Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application. MICROMACHINES 2018; 9:mi9120617. [PMID: 30477149 PMCID: PMC6315821 DOI: 10.3390/mi9120617] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/10/2018] [Revised: 11/09/2018] [Accepted: 11/20/2018] [Indexed: 01/31/2023]
Abstract
Magnetically driven microrobots have been widely studied for various biomedical applications in the past decade. An important application of these biomedical microrobots is heart disease treatment. In intravascular treatments, a particular challenge is the submillimeter-sized guidewire steering; this requires a new microrobotic approach. In this study, a flexible microrobot was fabricated by the replica molding method, which consists of three parts: (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector. A mathematical model was developed to describe the relationship between the magnetic field and the deformation. A system identification approach and an algorithm were proposed for steering. The microrobot was fabricated, and the models for steering were experimentally validated under a magnetic field intensity of 15 mT. Limitations to control were identified, and the microrobot was steered in an arbitrary path using the proposed model. Furthermore, the flexible microrobot was steered using the guidewire within a three-dimensional (3D) transparent phantom of the right coronary artery filled with water, to show the potential application in a realistic environment. The flexible microrobot presented here showed promising results for enhancing guidewire steering in percutaneous coronary intervention (PCI).
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Affiliation(s)
- Ali Kafash Hoshiar
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Sungwoong Jeon
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Kangho Kim
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Seungmin Lee
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Jin-Young Kim
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
| | - Hongsoo Choi
- DGIST-ETH Microrobotics Research Center, DGIST, Daegu 42988, Korea.
- Department of Robotics Engineering, DGIST, Daegu 42988, Korea.
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