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Toinet S, Benwadih M, Szambolics H, Revenant C, Alincant D, Bordet M, Capsal JF, Della-Schiava N, Le MQ, Cottinet PJ. Design Optimization of Printed Multi-Layered Electroactive Actuators Used for Steerable Guidewire in Micro-Invasive Surgery. MATERIALS (BASEL, SWITZERLAND) 2024; 17:2135. [PMID: 38730941 PMCID: PMC11085776 DOI: 10.3390/ma17092135] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/22/2024] [Revised: 04/19/2024] [Accepted: 04/26/2024] [Indexed: 05/13/2024]
Abstract
To treat cardiovascular diseases (i.e., a major cause of mortality after cancers), endovascular-technique-based guidewire has been employed for intra-arterial navigation. To date, most commercially available guidewires (e.g., Terumo, Abbott, Cordis, etc.) are non-steerable, which is poorly suited to the human arterial system with numerous bifurcations and angulations. To reach a target artery, surgeons frequently opt for several tools (guidewires with different size integrated into angulated catheters) that might provoke arterial complications such as perforation or dissection. Steerable guidewires would, therefore, be of high interest to reduce surgical morbidity and mortality for patients as well as to simplify procedure for surgeons, thereby saving time and health costs. Regarding these reasons, our research involves the development of a smart steerable guidewire using electroactive polymer (EAP) capable of bending when subjected to an input voltage. The actuation performance of the developed device is assessed through the curvature behavior (i.e., the displacement and the angle of the bending) of a cantilever beam structure, consisting of single- or multi-stack EAP printed on a substrate. Compared to the single-stack architecture, the multi-stack gives rise to a significant increase in curvature, even when subjected to a moderate control voltage. As suggested by the design framework, the intrinsic physical properties (dielectric, electrical, and mechanical) of the EAP layer, together with the nature and thickness of all materials (EAP and substrate), do have strong effect on the bending response of the device. The analyses propose a comprehensive guideline to optimize the actuator performance based on an adequate selection of the relevant materials and geometric parameters. An analytical model together with a finite element model (FEM) are investigated to validate the experimental tests. Finally, the design guideline leads to an innovative structure (composed of a 10-stack active layer screen-printed on a thin substrate) capable of generating a large range of bending angle (up to 190°) under an acceptable input level of 550 V, which perfectly matches the standard of medical tools used for cardiovascular surgery.
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Affiliation(s)
- Simon Toinet
- University Grenoble Alpes, CEA, LITEN DTNM, 38000 Grenoble, France; (S.T.); (M.B.); (H.S.); (C.R.); (D.A.)
| | - Mohammed Benwadih
- University Grenoble Alpes, CEA, LITEN DTNM, 38000 Grenoble, France; (S.T.); (M.B.); (H.S.); (C.R.); (D.A.)
| | - Helga Szambolics
- University Grenoble Alpes, CEA, LITEN DTNM, 38000 Grenoble, France; (S.T.); (M.B.); (H.S.); (C.R.); (D.A.)
| | - Christine Revenant
- University Grenoble Alpes, CEA, LITEN DTNM, 38000 Grenoble, France; (S.T.); (M.B.); (H.S.); (C.R.); (D.A.)
| | - David Alincant
- University Grenoble Alpes, CEA, LITEN DTNM, 38000 Grenoble, France; (S.T.); (M.B.); (H.S.); (C.R.); (D.A.)
| | - Marine Bordet
- Department of Vascular and Endovascular Surgery, Hospices Civils de Lyon, 69500 Bron, France; (M.B.); (N.D.-S.)
| | | | - Nellie Della-Schiava
- Department of Vascular and Endovascular Surgery, Hospices Civils de Lyon, 69500 Bron, France; (M.B.); (N.D.-S.)
| | - Minh-Quyen Le
- LGEF Laboratory, INSA Lyon, UR682, 69621 Villeurbanne, France;
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Nelson BJ, Bendok BR, Turcotte EL, Batjer HH. Remote magnetic navigation enables precision telesurgery. Sci Robot 2024; 9:eado3187. [PMID: 38416854 DOI: 10.1126/scirobotics.ado3187] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/31/2024] [Accepted: 01/31/2024] [Indexed: 03/01/2024]
Abstract
Medical devices actuated by external magnetic fields can create opportunities for clinical adoption of precision telesurgery.
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Affiliation(s)
- Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zürich, Zürich, Switzerland
| | - Bernard R Bendok
- Department of Neurological Surgery, Mayo Clinic, Phoenix, AZ, USA
- Mayo Clinic College of Medicine and Science, Phoenix, AZ, USA
- Department of Radiology, Mayo Clinic, Phoenix, AZ, USA
- Department of Otolaryngology Head and Neck Surgery/Audiology, Mayo Clinic, Phoenix, AZ, USA
| | - Evelyn L Turcotte
- Mayo Clinic Alix School of Medicine, Mayo Clinic, Scottsdale, AZ, USA
| | - H Hunt Batjer
- Department of Neurological Surgery, Mayo Clinic, Phoenix, AZ, USA
- University of Texas Southwestern Medical Center, Dallas, TX, USA
- University of Texas at Tyler School of Medicine, Tyler, TX, USA
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Liu X, Wang L, Xiang Y, Liao F, Li N, Li J, Wang J, Wu Q, Zhou C, Yang Y, Kou Y, Yang Y, Tang H, Zhou N, Wan C, Yin Z, Yang GZ, Tao G, Zang J. Magnetic soft microfiberbots for robotic embolization. Sci Robot 2024; 9:eadh2479. [PMID: 38381840 DOI: 10.1126/scirobotics.adh2479] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/19/2023] [Accepted: 01/24/2024] [Indexed: 02/23/2024]
Abstract
Cerebral aneurysms and brain tumors are leading life-threatening diseases worldwide. By deliberately occluding the target lesion to reduce the blood supply, embolization has been widely used clinically to treat cerebral aneurysms and brain tumors. Conventional embolization is usually performed by threading a catheter through blood vessels to the target lesion, which is often limited by the poor steerability of the catheter in complex neurovascular networks, especially in submillimeter regions. Here, we propose magnetic soft microfiberbots with high steerability, reliable maneuverability, and multimodal shape reconfigurability to perform robotic embolization in submillimeter regions via a remote, untethered, and magnetically controllable manner. Magnetic soft microfiberbots were fabricated by thermal drawing magnetic soft composite into microfibers, followed by magnetizing and molding procedures to endow a helical magnetic polarity. By controlling magnetic fields, magnetic soft microfiberbots exhibit reversible elongated/aggregated shape morphing and helical propulsion in flow conditions, allowing for controllable navigation through complex vasculature and robotic embolization in submillimeter regions. We performed in vitro embolization of aneurysm and tumor in neurovascular phantoms and in vivo embolization of a rabbit femoral artery model under real-time fluoroscopy. These studies demonstrate the potential clinical value of our work, paving the way for a robotic embolization scheme in robotic settings.
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Affiliation(s)
- Xurui Liu
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, 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 230026, PR China
- State Key Laboratory of Nonlinear Mechanics, Institute of Mechanics, Chinese Academy of Science, 15 Beisihuan West Road, Beijing 100190, China
| | - Yuanzhuo Xiang
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Fan Liao
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Na Li
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Jiyu Li
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei 230026, PR China
| | - Jiaxin Wang
- Department of Urology, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430030, PR China
| | - Qingyang Wu
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Cheng Zhou
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Youzhou Yang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Yuanshi Kou
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Yueying Yang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Hanchuan Tang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Ning Zhou
- Division of Cardiology, Department of Internal Medicine, Tongji Hospital of Tongji Medical College of Huazhong University of Science and Technology, Wuhan 430074, China
| | - Chidan Wan
- Department of Hepatobiliary Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Zhouping Yin
- Flexible Electronics Research Center, State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, Hubei 430074, China
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Guang-Zhong Yang
- Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Guangming Tao
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
- State Key Laboratory of Material Processing and Die & Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
- Key Laboratory of Vascular Aging, Ministry of Education, Tongji Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan 430030, China
- Institute of Medical Equipment Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Jianfeng Zang
- School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China
- Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China
- State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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Dreyfus R, Boehler Q, Lyttle S, Gruber P, Lussi J, Chautems C, Gervasoni S, Berberat J, Seibold D, Ochsenbein-Kölble N, Reinehr M, Weisskopf M, Remonda L, Nelson BJ. Dexterous helical magnetic robot for improved endovascular access. Sci Robot 2024; 9:eadh0298. [PMID: 38354258 DOI: 10.1126/scirobotics.adh0298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 01/17/2024] [Indexed: 02/16/2024]
Abstract
Treating vascular diseases in the brain requires access to the affected region inside the body. This is usually accomplished through a minimally invasive technique that involves the use of long, thin devices, such as wires and tubes, that are manually maneuvered by a clinician within the bloodstream. By pushing, pulling, and twisting, these devices are navigated through the tortuous pathways of the blood vessels. The outcome of the procedure heavily relies on the clinician's skill and the device's ability to navigate to the affected target region in the bloodstream, which is often inhibited by tortuous blood vessels. Sharp turns require high flexibility, but this flexibility inhibits translation of proximal insertion to distal tip advancement. We present a highly dexterous, magnetically steered continuum robot that overcomes pushability limitations through rotation. A helical protrusion on the device's surface engages with the vessel wall and translates rotation to forward motion at every point of contact. An articulating magnetic tip allows for active steerability, enabling navigation from the aortic arch to millimeter-sized arteries of the brain. The effectiveness of the magnetic continuum robot has been demonstrated through successful navigation in models of the human vasculature and in blood vessels of a live pig.
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Affiliation(s)
- R Dreyfus
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - Q Boehler
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - S Lyttle
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - P Gruber
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - J Lussi
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - C Chautems
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - S Gervasoni
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - J Berberat
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - D Seibold
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
| | - N Ochsenbein-Kölble
- Department of Obstetrics, University Hospital Zurich, Zurich, Switzerland
- Institute of Pathology and Molecular Pathology, University of Zurich, Zurich, Switzerland
| | - M Reinehr
- University of Zurich, Zurich, Switzerland
| | - M Weisskopf
- Center for Surgical Research, University Hospital Zurich, University of Zurich, Zurich, Switzerland
| | - L Remonda
- Department of Neuroradiology, Cantonal Hospital Aarau, Aarau, Switzerland
| | - B J Nelson
- Multi-Scale Robotics Lab, ETH Zurich, Zurich, Switzerland
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5
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Yang S, Wang Y, Ai D, Geng H, Zhang D, Xiao D, Song H, Li M, Yang J. Augmented Reality Navigation System for Biliary Interventional Procedures With Dynamic Respiratory Motion Correction. IEEE Trans Biomed Eng 2024; 71:700-711. [PMID: 38241137 DOI: 10.1109/tbme.2023.3316290] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/21/2024]
Abstract
OBJECTIVE Biliary interventional procedures require physicians to track the interventional instrument tip (Tip) precisely with X-ray image. However, Tip positioning relies heavily on the physicians' experience due to the limitations of X-ray imaging and the respiratory interference, which leads to biliary damage, prolonged operation time, and increased X-ray radiation. METHODS We construct an augmented reality (AR) navigation system for biliary interventional procedures. It includes system calibration, respiratory motion correction and fusion navigation. Firstly, the magnetic and 3D computed tomography (CT) coordinates are aligned through system calibration. Secondly, a respiratory motion correction method based on manifold regularization is proposed to correct the misalignment of the two coordinates caused by respiratory motion. Thirdly, the virtual biliary, liver and Tip from CT are overlapped to the corresponding position of the patient for dynamic virtual-real fusion. RESULTS Our system is respectively evaluated and achieved an average alignment error of 0.75 ± 0.17 mm and 2.79 ± 0.46 mm on phantoms and patients. The navigation experiments conducted on phantoms achieve an average Tip positioning error of 0.98 ± 0.15 mm and an average fusion error of 1.67 ± 0.34 mm after correction. CONCLUSION Our system can automatically register the Tip to the corresponding location in CT, and dynamically overlap the 3D virtual model onto patients to provide accurate and intuitive AR navigation. SIGNIFICANCE This study demonstrates the clinical potential of our system by assisting physicians during biliary interventional procedures. Our system enables dynamic visualization of virtual model on patients, reducing the reliance on contrast agents and X-ray usage.
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Zimmermann CJ, Petruska AJ, Neeves KB, Marr DWM. Coupling magnetic torque and force for colloidal microbot assembly and manipulation. ADVANCED INTELLIGENT SYSTEMS (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2023; 5:2300332. [PMID: 38737989 PMCID: PMC11086969 DOI: 10.1002/aisy.202300332] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/15/2023] [Indexed: 05/14/2024]
Abstract
For targeted transport in the body, biomedical microbots (μbots) must move effectively in three-dimensional (3D) microenvironments. Swimming μbots translate via asymmetric or screw-like motions while rolling ones use friction with available surfaces to generate propulsive forces. We have previously shown that planar rotating magnetic fields assemble μm-scale superparamagnetic beads into circular μbots that roll along surfaces. In this, gravity is required to pull μbots near the surface; however, this is not necessarily practical in complex geometries. Here we show that rotating magnetic fields, in tandem with directional magnetic gradient forces, can be used to roll μbots on surfaces regardless of orientation. Simplifying implementation, we use a spinning permanent magnet to generate differing ratios of rotating and gradient fields, optimizing control for different environments. This use of a single magnetic actuator sidesteps the need for complex electromagnet or tandem field setups, removes requisite gravitational load forces, and enables μbot targeting in complex 3D biomimetic microenvironments.
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Affiliation(s)
- Coy J Zimmermann
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
| | - Andrew J Petruska
- Department of Mechanical Engineering, Colorado School of Mines, Golden, CO, USA
| | - Keith B Neeves
- Departments of Bioengineering and Pediatrics, University of Colorado Denver | Anschutz Medical Campus, Aurora, CO
| | - David W M Marr
- Department of Chemical and Biological Engineering, Colorado School of Mines, Golden, CO, USA
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Zhang Y, Wu X, Vadlamani RA, Lim Y, Kim J, David K, Gilbert E, Li Y, Wang R, Jiang S, Wang A, Sontheimer H, English DF, Emori S, Davalos RV, Poelzing S, Jia X. Submillimeter Multifunctional Ferromagnetic Fiber Robots for Navigation, Sensing, and Modulation. Adv Healthc Mater 2023; 12:e2300964. [PMID: 37473719 PMCID: PMC10799194 DOI: 10.1002/adhm.202300964] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/24/2023] [Revised: 06/21/2023] [Accepted: 06/26/2023] [Indexed: 07/22/2023]
Abstract
Small-scale robots capable of remote active steering and navigation offer great potential for biomedical applications. However, the current design and manufacturing procedure impede their miniaturization and integration of various diagnostic and therapeutic functionalities. Herein, submillimeter fiber robots that can integrate navigation, sensing, and modulation functions are presented. These fiber robots are fabricated through a scalable thermal drawing process at a speed of 4 meters per minute, which enables the integration of ferromagnetic, electrical, optical, and microfluidic composite with an overall diameter of as small as 250 µm and a length of as long as 150 m. The fiber tip deflection angle can reach up to 54o under a uniform magnetic field of 45 mT. These fiber robots can navigate through complex and constrained environments, such as artificial vessels and brain phantoms. Moreover, Langendorff mouse hearts model, glioblastoma micro platforms, and in vivo mouse models are utilized to demonstrate the capabilities of sensing electrophysiology signals and performing a localized treatment. Additionally, it is demonstrated that the fiber robots can serve as endoscopes with embedded waveguides. These fiber robots provide a versatile platform for targeted multimodal detection and treatment at hard-to-reach locations in a minimally invasive and remotely controllable manner.
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Affiliation(s)
- Yujing Zhang
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Xiaobo Wu
- Translational Biology, Medicine, and Health Graduate Program, Virginia Tech, Roanoke, VA, 24016, USA
- Center for Heart and Reparative Medicine Research, Fralin Biomedical Research Institute at Virginia Tech Carilion, Roanoke, VA, 24016, USA
| | - Ram Anand Vadlamani
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Youngmin Lim
- Department of Physics, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Jongwoon Kim
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Kailee David
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Earl Gilbert
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, 24061, USA
- School of Neuroscience, Virginia Tech, Blacksburg, VA, 24061, USA
| | - You Li
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Ruixuan Wang
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Shan Jiang
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Anbo Wang
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Harald Sontheimer
- Department of Neuroscience, University of Virginia, Charlottesville, VA, 22903, USA
| | | | - Satoru Emori
- Department of Physics, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Rafael V Davalos
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA, 24061, USA
| | - Steven Poelzing
- Translational Biology, Medicine, and Health Graduate Program, Virginia Tech, Roanoke, VA, 24016, USA
- Center for Heart and Reparative Medicine Research, Fralin Biomedical Research Institute at Virginia Tech Carilion, Roanoke, VA, 24016, USA
| | - Xiaoting Jia
- Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
- School of Neuroscience, Virginia Tech, Blacksburg, VA, 24061, USA
- Department of Materials Science and Engineering, Virginia Tech, Blacksburg, VA, 24061, USA
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Zhou JJ, Alawneh Y, Sewani A, Keshavarz M, Tahmasebi M, Roy T, Kayssi A, Dueck A, Wright GA, Tavallaei MA. The CathPilot: Performance Validation and Preclinical Safety and Feasibility Assessment. IEEE Trans Biomed Eng 2023; 70:3116-3125. [PMID: 37195835 DOI: 10.1109/tbme.2023.3276199] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/19/2023]
Abstract
OBJECTIVES Peripheral endovascular revascularization procedures often fail due to technical limitations of guidewire support, steering, and visualization. The novel CathPilot catheter aims to address these challenges. This study assesses the safety and feasibility of the CathPilot and compares its performance to conventional catheters for peripheral vascular interventions. METHODS The study compared the CathPilot to non-steerable and steerable catheters. The success rates and access times for a relevant target inside a tortuous vessel phantom model were assessed. The reachable workspace within the vessel and the guidewire's force delivery capabilities were also evaluated. To validate the technology, chronic total occlusion tissue samples were used ex vivo to compare crossing success rates with conventional catheters. Finally, in vivo experiments in a porcine aorta were conducted to evaluate safety and feasibility. RESULTS The success rates for reaching the set targets were 31%, 69%, and 100% with the non-steerable catheter, the steerable catheter, and the CathPilot, respectively. CathPilot had a significantly larger reachable workspace, and allowed for up to four times higher force delivery and pushability. In crossing of chronic total occlusion samples, the CathPilot achieved a success rate of 83% and 100%, for fresh and fixed lesions respectively, which was also significantly higher than conventional catheters. The device was fully functional in the in vivo study, and there were no signs of coagulation or damage to the vessel wall. CONCLUSION This study shows the safety and feasibility of the CathPilot system and its potential to reduce failure and complication rates in peripheral vascular interventions. The novel catheter outperformed conventional catheters in all defined metrics. This technology can potentially improve the success rate and outcome of peripheral endovascular revascularization procedures.
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Zhang C, Gao W, Zhang Y, Han Z, Zhou M. Modeling and motion control of helical microrobots using the dual quaternion framework and adaptive sliding mode strategy. ISA TRANSACTIONS 2023; 141:223-240. [PMID: 37423885 DOI: 10.1016/j.isatra.2023.06.024] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/18/2021] [Revised: 05/18/2023] [Accepted: 06/23/2023] [Indexed: 07/11/2023]
Abstract
This study investigates the tracking control problem of helical microrobots (HMRs) in complicated blood environments. The integrated relative motion model of HMRs is established by resorting to the dual quaternion method, which can describe the coupling effect between the rotational and translational motions. Subsequently, an original apparent weight compensator (AWC) is designed to alleviate the adverse effects of the HMR sinking and drifting owing to its own weight and buoyancy. An adaptive sliding mode control based on the developed AWC (AWC-ASMC) is constructed to guarantee the fast convergence of the relative motion tracking errors in the presence of model uncertainties and unknown perturbations. The chattering phenomenon of the classical SMC is significantly reduced using the developed control strategy. Furthermore, the stability of the closed-loop system under the constructed control framework is demonstrated by the Lyapunov theory. Finally, numerical simulations are performed to demonstrate the validity and superiority of the developed control scheme.
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Affiliation(s)
- Chen Zhang
- Department of Control Science and Engineering, Jilin University, Changchun 130022, China
| | - Wei Gao
- Department of Control Science and Engineering, Jilin University, Changchun 130022, China
| | - Ying Zhang
- Department of Control Science and Engineering, Jilin University, Changchun 130022, China
| | - Zhiwu Han
- Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, China
| | - Miaolei Zhou
- Department of Control Science and Engineering, Jilin University, Changchun 130022, China.
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Wu Z, Zhang J, Wei S, Chen D. Kirchhoff rod-based three-dimensional dynamical model and real-time simulation for medical-magnetic guidewires. COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE 2023; 240:107646. [PMID: 37320941 DOI: 10.1016/j.cmpb.2023.107646] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/25/2022] [Revised: 05/01/2023] [Accepted: 06/05/2023] [Indexed: 06/17/2023]
Abstract
BACKGROUND AND OBJECTIVE Magnetic guidewire, fabricated from hard-magnetic soft composites, has recently emerged as an appropriate candidate for magnetic actuation systems to perform intravascular surgical navigation, owing to its elastic, magnetically steerable properties and good interphase with biological tissues. A suitable and efficient mathematical model for the magnetic guidewire is essential in the system to execute remote manipulation and active control. METHODS This paper presents a real-time Kirchhoff rod-based dynamical modeling approach, the magneto-elastic rod model, to simulate magnetic guidewire, which provides accurate simulations for two- and three-dimensional dynamic deflections induced by external magnetic fields and obtains deformed guidewire shapes in quasi-static status. RESULTS The proposed model is capable of describing the intrinsic principles of elastic body actuation by torques generated from the hard-magnetic soft matrix. The effectiveness of the developed model is validated, and the real-time simulation application is conducted via the semi-implicit numerical integration method. CONCLUSIONS It has been shown that the presented dynamical model captures large nonlinear deformations and transient responses of the magnetic guidewire in an imitated human blood environment, which could offer robust support for the construction of a simulated magnetically driven surgical system.
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Affiliation(s)
- Zhiwei Wu
- School of Automation, Beijing Institute of Technology, Beijing, 100081, China.
| | - Jinhui Zhang
- School of Automation, Beijing Institute of Technology, Beijing, 100081, China.
| | - Siyi Wei
- School of Automation, Beijing Institute of Technology, Beijing, 100081, China.
| | - Duanduan Chen
- School of Life Science, Beijing lnstitute of Technology, Beijing, 100081, China.
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11
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Barnes N, Young O, Colton A, Liu X, Janowski M, Gandhi D, Sochol R, Brown J, Krieger A. Toward a novel soft robotic system for minimally invasive interventions. Int J Comput Assist Radiol Surg 2023; 18:1547-1557. [PMID: 37486544 PMCID: PMC10928906 DOI: 10.1007/s11548-023-02997-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/11/2023] [Accepted: 07/04/2023] [Indexed: 07/25/2023]
Abstract
PURPOSE During minimally invasive surgery, surgeons maneuver tools through complex anatomies, which is difficult without the ability to control the position of the tools inside the body. A potential solution for a substantial portion of these procedures is the efficient design and control of a pneumatically actuated soft robot system. METHODS We designed and evaluated a system to control a steerable catheter tip. A macroscale 3D printed catheter tip was designed to have two separately pressurized channels to induce bending in two directions. A motorized hand controller was developed to allow users to control the bending angle while manually inserting the steerable tip. Preliminary characterization of two catheter tip prototypes was performed and used to map desired angle inputs into pressure commands. RESULTS The integrated robotic system allowed both a novice and a skilled surgeon to position the steerable catheter tip at the location of cylindrical targets with sub-millimeter accuracy. The novice was able to reach each target within ten seconds and the skilled surgeon within five seconds on average. CONCLUSION This soft robotic system enables its user to simultaneously insert and bend the pneumatically actuated catheter tip with high accuracy and in a short amount of time. These results show promise concerning the development of a soft robotic system that can improve outcomes in minimally invasive interventions.
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Affiliation(s)
- Noah Barnes
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Olivia Young
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Maryland Robotics Center, University of Maryland, College Park, MD, USA
- Institute for Systems Research, University of Maryland, College Park, MD, USA
| | - Adira Colton
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Maryland Robotics Center, University of Maryland, College Park, MD, USA
- Institute for Systems Research, University of Maryland, College Park, MD, USA
| | - Xiaolong Liu
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Miroslaw Janowski
- Department of Diagnostic Radiology and Nuclear Medicine, University of Maryland, Baltimore, Baltimore, MD, USA
| | - Dheeraj Gandhi
- Department of Neurosurgery, University of Maryland Medical Center, Baltimore, MD, USA
- Department of Diagnostic Radiology, Neuroradiology, University of Maryland Medical Center, Baltimore, MD, USA
| | - Ryan Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD, USA
- Maryland Robotics Center, University of Maryland, College Park, MD, USA
- Institute for Systems Research, University of Maryland, College Park, MD, USA
- Fischell Department of Bioengineering, University of Maryland, College Park, MD, USA
- Robert E. Fischell Institute for Biomedical Devices, University of Maryland, College Park, MD, USA
| | - Jeremy Brown
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA
| | - Axel Krieger
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA.
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12
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Najafi G, Kreiser K, Abdelaziz MEMK, Hamady MS. Current State of Robotics in Interventional Radiology. Cardiovasc Intervent Radiol 2023; 46:549-561. [PMID: 37002481 PMCID: PMC10156773 DOI: 10.1007/s00270-023-03421-1] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 07/04/2022] [Accepted: 03/11/2023] [Indexed: 05/04/2023]
Abstract
As a relatively new specialty with a minimally invasive nature, the field of interventional radiology is rapidly growing. Although the application of robotic systems in this field shows great promise, such as with increased precision, accuracy, and safety, as well as reduced radiation dose and potential for teleoperated procedures, the progression of these technologies has been slow. This is partly due to the complex equipment with complicated setup procedures, the disruption to theatre flow, the high costs, as well as some device limitations, such as lack of haptic feedback. To further assess these robotic technologies, more evidence of their performance and cost-effectiveness is needed before their widespread adoption within the field. In this review, we summarise the current progress of robotic systems that have been investigated for use in vascular and non-vascular interventions.
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Affiliation(s)
- Ghazal Najafi
- Department of Surgery and Cancer, Faculty of Medicine, Imperial College London, London, SW7 2AZ, UK.
| | - Kornelia Kreiser
- Department of Neuroradiology, Rehabilitations - und Universitätskliniken Ulm, 89081, Ulm, Germany
| | - Mohamed E M K Abdelaziz
- The Hamlyn Centre, Imperial College London, London, SW7 2AZ, UK
- Department of Electrical and Electronic Engineering, Faculty of Engineering, Imperial College London, London, SW7 2AZ, UK
| | - Mohamad S Hamady
- Department of Surgery and Cancer, Faculty of Medicine, Imperial College London, London, SW7 2AZ, UK
- The Hamlyn Centre, Imperial College London, London, SW7 2AZ, UK
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13
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Song Y, Li L, Tian Y, Li Z, Yin X. A Novel Master-Slave Interventional Surgery Robot with Force Feedback and Collaborative Operation. SENSORS (BASEL, SWITZERLAND) 2023; 23:3584. [PMID: 37050644 PMCID: PMC10099359 DOI: 10.3390/s23073584] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/13/2023] [Revised: 03/11/2023] [Accepted: 03/27/2023] [Indexed: 06/19/2023]
Abstract
In recent years, master-slave vascular robots have been developed to address the problem of radiation exposure during vascular interventions for surgeons. However, the single visual feedback reduces surgeon immersion and transparency of the system. In this work, we have developed a haptic interface based on the magnetorheological fluid (MRF) on the master side. The haptic interface can provide passive feedback force with high force fidelity and low inertia. Additionally, the manipulation of the master device does not change the operating posture of traditional surgery, which allows the surgeon to better adapt to the robotic system. For the slave robot, the catheter and guidewire can be navigated simultaneously which allows the two degrees of action on the catheter and axial action of a guidewire. The resistance force of the catheter navigation is measured and reflected to the user through the master haptic interface. To verify the proposed master-slave robotic system, the evaluation experiments are carried out in vitro, and the effectiveness of the system was demonstrated experimentally.
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Affiliation(s)
- Yu Song
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Liutao Li
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Yu Tian
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Zhiwei Li
- Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
| | - Xuanchun Yin
- School of Engineering, South China Agricultural University, Guangzhou 510642, China
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14
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Lee S, Kim N, Kwon J, Jang G. Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment. MICROMACHINES 2023; 14:724. [PMID: 37420957 DOI: 10.3390/mi14040724] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/17/2023] [Revised: 03/20/2023] [Accepted: 03/21/2023] [Indexed: 07/09/2023]
Abstract
In this paper, we propose a method of identifying the position of a tethered delivery catheter in a vascular environment, recombining an untethered magnetic robot (UMR) to the tethered delivery catheter, and safely retrieving them from the vascular environment in an endovascular intervention by utilizing a separable and recombinable magnetic robot (SRMR) and a magnetic navigation system (MNS). From images of a blood vessel and a tethered delivery catheter taken from two different angles, we developed a method of extracting the position of the delivery catheter in the blood vessel by introducing dimensionless cross-sectional coordinates. Then, we propose a retrieval method for the UMR by using the magnetic force considering the delivery catheter's position, suction force, and rotating magnetic field. We used thane MNS and feeding robot to simultaneously apply magnetic force and suction force to the UMR. In this process, we determined a current solution for generating magnetic force by using a linear optimization method. Finally, we conducted in vitro and in vivo experiments to verify the proposed method. In the in vitro experiment, which was in a glass tube environment, by using an RGB camera, we confirmed that the location of the delivery catheter in the glass tube could be recognized within an average error of 0.05 mm in each of the X- and Z-coordinates and that the retrieval success rate was greatly improved in comparison with that in the case without the use of magnetic force. In an in vivo experiment, we successfully retrieved the UMR in the femoral arteries of pigs.
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Affiliation(s)
- Serim Lee
- Department of Mechanical Convergence Engineering, Hanyang University, Seoul 04763, Republic of Korea
| | - Nahyun Kim
- Department of Mechanical Convergence Engineering, Hanyang University, Seoul 04763, Republic of Korea
| | - Junhyoung Kwon
- Department of Mechanical Convergence Engineering, Hanyang University, Seoul 04763, Republic of Korea
| | - Gunhee Jang
- Department of Mechanical Convergence Engineering, Hanyang University, Seoul 04763, Republic of Korea
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15
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Hou Y, Wang H, Fu R, Wang X, Yu J, Zhang S, Huang Q, Sun Y, Fukuda T. A review on microrobots driven by optical and magnetic fields. LAB ON A CHIP 2023; 23:848-868. [PMID: 36629004 DOI: 10.1039/d2lc00573e] [Citation(s) in RCA: 15] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Due to their small sizes, microrobots are advantageous for accessing hard-to-reach spaces for delivery and measurement. However, their small sizes also bring challenges in on-board powering, thus usually requiring actuation by external energy. Microrobots actuated by external energy have been applied to the fields of physics, biology, medical science, and engineering. Among these actuation sources, light and magnetic fields show advantages in high precision and high biocompatibility. This paper reviews the recent advances in the design, actuation, and applications of microrobots driven by light and magnetic fields. For light-driven microrobots, we summarized the uses of optical tweezers, optoelectronic tweezers, and heat-mediated optical manipulation techniques. For magnetically driven microrobots, we summarized the uses of torque-driven microrobots, force-driven microrobots, and shape-deformable microrobots. Then, we compared the two types of field-driven microrobots and reviewed their advantages and disadvantages. The paper concludes with an outlook for the joint use of optical and magnetic field actuation in microrobots.
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Affiliation(s)
- Yaozhen Hou
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
| | - Huaping Wang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Rongxin Fu
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
| | - Xian Wang
- Arthur and Sonia Labatt Brain Tumour Research Centre, The Hospital for Sick Children, Toronto, ONT, M5G 1X8, Canada
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS), Shenzhen 518129, China
| | - Shuailong Zhang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Qiang Huang
- School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China.
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
- Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
| | - Yu Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, M5S 3G8, Canada
- Institute of Biomedical Engineering, University of Toronto, Toronto, ON, M5S 3G9, Canada
| | - Toshio Fukuda
- Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, 100081, China
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16
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Nauber R, Goudu SR, Goeckenjan M, Bornhäuser M, Ribeiro C, Medina-Sánchez M. Medical microrobots in reproductive medicine from the bench to the clinic. Nat Commun 2023; 14:728. [PMID: 36759511 PMCID: PMC9911761 DOI: 10.1038/s41467-023-36215-7] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2021] [Accepted: 01/20/2023] [Indexed: 02/11/2023] Open
Abstract
Medical microrobotics is an emerging field that aims at non-invasive diagnosis and therapy inside the human body through miniaturized sensors and actuators. Such microrobots can be tethered (e.g., smart microcatheters, microendoscopes) or untethered (e.g., cell-based drug delivery systems). Active motion and multiple functionalities, distinguishing microrobots from mere passive carriers and conventional nanomedicines, can be achieved through external control with physical fields such as magnetism or ultrasound. Here we give an overview of the key challenges in the field of assisted reproduction and how these new technologies could, in the future, enable assisted fertilization in vivo and enhance embryo implantation. As a case study, we describe a potential intervention in the case of recurrent embryo implantation failure, which involves the non-invasive delivery of an early embryo back to the fertilization site using magnetically-controlled microrobots. As the embryo will be in contact with the secretory oviduct fluid, it can develop under natural conditions and in synchrony with the endometrium preparation. We discuss the potential microrobot designs, including a proper selection of materials and processes, envisioning their translation from bench to animal studies and human medicine. Finally, we highlight regulatory and ethical considerations for bringing this technology to the clinic.
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Affiliation(s)
- Richard Nauber
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Sandhya R Goudu
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Maren Goeckenjan
- Medical Clinic I, University Hospital, Technische Universität Dresden, Fetscherstraße 74, 01307, Dresden, Germany
| | - Martin Bornhäuser
- Medical Clinic I, University Hospital, Technische Universität Dresden, Fetscherstraße 74, 01307, Dresden, Germany.,National Center for Tumor Diseases (NCT/UCC), Dresden, Germany
| | - Carla Ribeiro
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany
| | - Mariana Medina-Sánchez
- Micro- and NanoBiomedical Engineering Group (MNBE) Institute for Integrative Nanosciences, Leibniz Institute for Solid State and Materials Research (IFW), 01069, Dresden, Germany. .,Chair of Micro- and NanoSystems, Center for Molecular Bioengineering (B CUBE), Dresden University of Technology, 01062, Dresden, Germany.
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17
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Zhang Y, Wu X, Vadlamani RA, Lim Y, Kim J, David K, Gilbert E, Li Y, Wang R, Jiang S, Wang A, Sontheimer H, English D, Emori S, Davalos RV, Poelzing S, Jia X. Multifunctional ferromagnetic fiber robots for navigation, sensing, and treatment in minimally invasive surgery. BIORXIV : THE PREPRINT SERVER FOR BIOLOGY 2023:2023.01.27.525973. [PMID: 36778450 PMCID: PMC9915472 DOI: 10.1101/2023.01.27.525973] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 02/01/2023]
Abstract
Small-scale robots capable of remote active steering and navigation offer great potential for biomedical applications. However, the current design and manufacturing procedure impede their miniaturization and integration of various diagnostic and therapeutic functionalities. Here, we present a robotic fiber platform for integrating navigation, sensing, and therapeutic functions at a submillimeter scale. These fiber robots consist of ferromagnetic, electrical, optical, and microfluidic components, fabricated with a thermal drawing process. Under magnetic actuation, they can navigate through complex and constrained environments, such as artificial vessels and brain phantoms. Moreover, we utilize Langendorff mouse hearts model, glioblastoma microplatforms, and in vivo mouse models to demonstrate the capabilities of sensing electrophysiology signals and performing localized treatment. Additionally, we demonstrate that the fiber robots can serve as endoscopes with embedded waveguides. These fiber robots provide a versatile platform for targeted multimodal detection and treatment at hard-to-reach locations in a minimally invasive and remotely controllable manner.
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Affiliation(s)
- Yujing Zhang
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
| | - Xiaobo Wu
- Translational Biology, Medicine, and Health Graduate Program, Virginia Tech, Roanoke, VA
- Center for Heart and Reparative Medicine Research, Fralin Biomedical Research Institute at Virginia Tech Carilion, Roanoke, VA
| | - Ram Anand Vadlamani
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA
| | - Youngmin Lim
- Department of Physics, Virginia Tech, Blacksburg, VA
| | - Jongwoon Kim
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
| | - Kailee David
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA
| | - Earl Gilbert
- School of Neuroscience, Virginia Tech, Blacksburg, VA
| | - You Li
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
| | - Ruixuan Wang
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
| | - Shan Jiang
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
| | - Anbo Wang
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
| | - Harald Sontheimer
- Department of Neuroscience, University of Virginia School of Medicine, Charlottesville, VA
| | | | - Satoru Emori
- Department of Physics, Virginia Tech, Blacksburg, VA
| | - Rafael V Davalos
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA
| | - Steven Poelzing
- Translational Biology, Medicine, and Health Graduate Program, Virginia Tech, Roanoke, VA
- Center for Heart and Reparative Medicine Research, Fralin Biomedical Research Institute at Virginia Tech Carilion, Roanoke, VA
- Department of Biomedical Engineering and Mechanics, Virginia Tech, Blacksburg, VA
| | - Xiaoting Jia
- The Bradley Department of Electrical and Computer Engineering, Virginia Tech, Blacksburg, VA
- School of Neuroscience, Virginia Tech, Blacksburg, VA
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18
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Limpabandhu C, Hu Y, Ren H, Song W, Ho Tse ZT. Magnetically steerable catheters: State of the art review. Proc Inst Mech Eng H 2023; 237:297-308. [PMID: 36704957 PMCID: PMC10052423 DOI: 10.1177/09544119221148799] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/28/2023]
Abstract
Magnetically steerable catheters (MSCs) have caught the interest of researchers due to their various potential uses in clinical applications, for example, minimally invasive surgery. Many significant advances in the design, implementation and analysis of MSCs have been accomplished in the last decade. This review concentrates on the configurations of current MSCs with an in depth look at control of the device and the specific workspace. This review also evaluates MSCs and references possible future system designs and difficulties. The concept of magnetic manipulation is briefly presented. Then, by category, the MSC is introduced. Following that, a discussion of future works and challenges of the review systems is provided. The conclusions are finally addressed.
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Affiliation(s)
- Chayabhan Limpabandhu
- School of Engineering and Materials Science, Queen Mary University of London, London, UK
| | - Yihua Hu
- Department of Electronic Engineering, University of York, York, UK
| | - Hongliang Ren
- Department of Electronic Engineering, University of York, York, UK
| | - Wenzhan Song
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Zion Tsz Ho Tse
- School of Engineering and Materials Science, Queen Mary University of London, London, UK
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19
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Richter M, Kaya M, Sikorski J, Abelmann L, Kalpathy Venkiteswaran V, Misra S. Magnetic Soft Helical Manipulators with Local Dipole Interactions for Flexibility and Forces. Soft Robot 2023. [PMID: 36662545 DOI: 10.1089/soro.2022.0031] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/21/2023] Open
Abstract
Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible magnetic structures that contain combinations of magnetic components and polymers to navigate long and tortuous paths. In cylindrical MCM designs, a significant trade-off exists between magnetic moment and bending flexibility as the ratio between length and diameter decreases. In this study, we propose a new MCM design framework that enables increasing diameter without compromising on flexibility and magnetic moment. Magnetic soft composite helices constitute bending regions of the MCM and are separated by permanent ring magnets. Local dipole interactions between the permanent magnets can reduce bending stiffness, depending on their size and spacing. For the particular segment geometry presented herein, the local dipole interactions result in a 31% increase in angular deflection of composite helices inside an external magnetic field, compared to helices without local interactions. In addition, we demonstrate fabrication, maneuverability, and example applications of a multisegment MCM in a phantom of the abdominal aorta, such as passing contrast dye and guidewires.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Mert Kaya
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands
| | - Jakub Sikorski
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
| | - Leon Abelmann
- KIST Europe Forschugsgesellschaft mbH, Saarbrücken, Germany.,MESA+ Research Institute, University of Twente, Enschede, The Netherlands
| | | | - Sarthak Misra
- Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.,Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands
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20
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Marullo S, Salvietti G, Prattichizzo D. On the Use of Magnets to Robustify the Motion Control of Soft Hands. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3205751] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Sara Marullo
- Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
| | - Gionata Salvietti
- Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
| | - Domenico Prattichizzo
- Department of Information Engineering and Mathematics, University of Siena, Siena, Italy
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21
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Liu Y, Mohanraj TG, Rajebi MR, Zhou L, Alambeigi F. Multiphysical Analytical Modeling and Design of A Magnetically Steerable Robotic Catheter for Treatment of Peripheral Artery Disease. IEEE/ASME TRANSACTIONS ON MECHATRONICS : A JOINT PUBLICATION OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY AND THE ASME DYNAMIC SYSTEMS AND CONTROL DIVISION 2022; 27:1873-1881. [PMID: 36866033 PMCID: PMC9974172 DOI: 10.1109/tmech.2022.3174520] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/14/2023]
Abstract
This article presents a unique multiphysical analytical modeling framework and solution algorithm to provide an effective tool for design of magnetically steerable robotic catheters (MSRCs) experiencing external interaction loads. Particularly, in this study, we are interested in design and fabrication of a MSRC with flexural patterns for treatment of peripheral artery disease (PAD). Aside from the parameters involved in the magnetic actuation system and the external interaction loads acting on the MSRC, the considered flexural patterns have a critical role on the deformation behavior and steerability of the proposed MSRC. Therefore, to optimally design such MSRC, we utilized the proposed multiphysical modeling approach and thoroughly evaluated the influence of involved parameters on the performance of the MSRC via two simulations studies. We also conducted experimental studies in a free bending condition and in the presence of different external interaction loads on two custom-designed MSRCs to thoroughly evaluate the efficacy of the proposed multiphysical model and solution algorithm. Our analysis demonstrates the accuracy of the proposed approach and necessity of utilizing such models to optimally design a MSRC before fabrication procedure.
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Affiliation(s)
- Yang Liu
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
| | - Tarunraj G Mohanraj
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
| | - Mohammad R Rajebi
- Vascual and Interventional Radiology Section of Christus Spohn Hospital, Corpus Christi, TX, 78404, USA
| | - Lei Zhou
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
| | - Farshid Alambeigi
- Walker Department of Mechanical Engineering and the Texas Robotics at the University of Texas at Austin, Austin, TX, 78712, USA
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22
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Cepolina F, Razzoli RP. An introductory review of robotically assisted surgical systems. Int J Med Robot 2022; 18:e2409. [PMID: 35476899 PMCID: PMC9540802 DOI: 10.1002/rcs.2409] [Citation(s) in RCA: 15] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/12/2022] [Revised: 04/16/2022] [Accepted: 04/17/2022] [Indexed: 12/28/2022]
Abstract
Purpose The scope of the work is to present the state of the art of robotically assisted surgical systems and to give a general idea about how technology can help today and tomorrow robotic surgery. The road to innovation passes through research and on field trials; for this reason, not only commercial surgery robots, but also innovative prototype robots, proposed by the Academic world, are presented. Design/methodology/approach Following a short introduction, robotically assisted surgery systems are introduced discussing their architectures and main peculiarities. A further section is dedicated to the key enabling technologies that will make possible to improve current systems and that will lead to a new generation of surgical robotic systems able to meet the patient's needs and facilitate the surgeon's task. Finally, brief concluding comments are given. Findings The idea of using robots for surgery was born many years ago and in a short time a market demand was created. Today the market is very dynamic, and several new products are updated and created for the execution of both traditional and new procedures. The article provides a guide for the reader who has an interest in this area. Originality/value This paper provides an insight into the commercial robotic surgical systems and a look on research prototypes from academic and industrial worlds.
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Affiliation(s)
- Francesco Cepolina
- Department of Mechanical Engineering, Energy, Production, Transport and Mathematical Models (DIME) University of Genoa Genova Italy
| | - Roberto P. Razzoli
- Department of Mechanical Engineering, Energy, Production, Transport and Mathematical Models (DIME) University of Genoa Genova Italy
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23
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Zhang J, Fang Q, Xiang P, Sun D, Xue Y, Jin R, Qiu K, Xiong R, Wang Y, Lu H. A Survey on Design, Actuation, Modeling, and Control of Continuum Robot. CYBORG AND BIONIC SYSTEMS 2022; 2022:9754697. [PMID: 38616914 PMCID: PMC11014731 DOI: 10.34133/2022/9754697] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Accepted: 06/27/2022] [Indexed: 04/16/2024] Open
Abstract
In this paper, we describe the advances in the design, actuation, modeling, and control field of continuum robots. After decades of pioneering research, many innovative structural design and actuation methods have arisen. Untethered magnetic robots are a good example; its external actuation characteristic allows for miniaturization, and they have gotten a lot of interest from academics. Furthermore, continuum robots with proprioceptive abilities are also studied. In modeling, modeling approaches based on continuum mechanics and geometric shaping hypothesis have made significant progress after years of research. Geometric exact continuum mechanics yields apparent computing efficiency via discrete modeling when combined with numerical analytic methods such that many effective model-based control methods have been realized. In the control, closed-loop and hybrid control methods offer great accuracy and resilience of motion control when combined with sensor feedback information. On the other hand, the advancement of machine learning has made modeling and control of continuum robots easier. The data-driven modeling technique simplifies modeling and improves anti-interference and generalization abilities. This paper discusses the current development and challenges of continuum robots in the above fields and provides prospects for the future.
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Affiliation(s)
- Jingyu Zhang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Qin Fang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Pingyu Xiang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Danying Sun
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yanan Xue
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
- Department of Plastic Surgery, Sir Run Run Shaw Hospital, Zhejiang University of Medicine, Hangzhou 310016, China
| | - Rui Jin
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Ke Qiu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Rong Xiong
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Yue Wang
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
| | - Haojian Lu
- State Key Laboratory of Industrial Control and Technology, Zhejiang University, Hangzhou 310027, China
- Institute of Cyber-Systems and Control, The Department of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
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24
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Yang H, Yang Z, Jin D, Su L, Chan KF, Chong KKL, Pang CP, Zhang L. Magnetic Micro-Driller System for Nasolacrimal Duct Recanalization. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3182105] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Zhengxin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Dongdong Jin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Kai-Fung Chan
- Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong
| | - Kelvin Kam-Lung Chong
- Department of Ophthalmology and Visual Sciences, The Chinese University of Hong Kong, Hong Kong
| | - Chi Pui Pang
- Department of Ophthalmology and Visual Sciences, The Chinese University of Hong Kong, Hong Kong
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong(CUHK), Hong Kong
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25
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Hwang J, Jeon S, Kim B, Kim J, Jin C, Yeon A, Yi B, Yoon C, Park H, Pané S, Nelson BJ, Choi H. An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention. Adv Healthc Mater 2022; 11:e2102529. [PMID: 35137568 DOI: 10.1002/adhm.202102529] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/26/2021] [Revised: 01/28/2022] [Indexed: 12/26/2022]
Abstract
Robotic magnetic manipulation systems offer a wide range of potential benefits in medical fields, such as precise and selective manipulation of magnetically responsive instruments in difficult-to-reach vessels and tissues. However, more preclinical/clinical studies are necessary before robotic magnetic interventional systems can be widely adopted. In this study, a clinically translatable, electromagnetically controllable microrobotic interventional system (ECMIS) that assists a physician in remotely manipulating and controlling microdiameter guidewires in real time, is reported. The ECMIS comprises a microrobotic guidewire capable of active magnetic steering under low-strength magnetic fields, a human-scale electromagnetic actuation (EMA) system, a biplane X-ray imaging system, and a remote guidewire/catheter advancer unit. The proposed ECMIS demonstrates targeted real-time cardiovascular interventions in vascular phantoms through precise and rapid control of the microrobotic guidewire under EMA. Further, the potential clinical effectiveness of the ECMIS for real-time cardiovascular interventions is investigated through preclinical studies in coronary, iliac, and renal arteries of swine models in vivo, where the magnetic steering of the microrobotic guidewire and control of other ECMIS modules are teleoperated by operators in a separate control booth with X-ray shielding. The proposed ECMIS can help medical physicians optimally manipulate interventional devices such as guidewires under minimal radiation exposure.
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Affiliation(s)
- Junsun Hwang
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
| | - Sungwoong Jeon
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
| | - Beomjoo Kim
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
| | - Jin‐young Kim
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
| | - Chaewon Jin
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
| | - Ara Yeon
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
| | - Byung‐Ju Yi
- Department of Electronic Systems Engineering Hanyang University ERICA Gyeonggi 15588 Republic of Korea
| | - Chang‐Hwan Yoon
- Cardiovascular Center Seoul National University Bundang Hospital Seoul National University College of Medicine Gyeonggi 13620 Republic of Korea
| | - Hun‐Jun Park
- Division of Cardiology Department of Internal Medicine Seoul St. Mary's Hospital The Catholic University of Korea Seoul 06591 Republic of Korea
| | - Salvador Pané
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
- Multi‐Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Tannenstrasse 3 Zurich CH‐8092 Switzerland
| | - Bradley J. Nelson
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
- Multi‐Scale Robotics Lab Institute of Robotics and Intelligent Systems ETH Zurich Tannenstrasse 3 Zurich CH‐8092 Switzerland
| | - Hongsoo Choi
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu 42988 Republic of Korea
- Robotics Research Center DGIST Daegu 42988 Republic of Korea
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26
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Nazari AA, Zareinia K, Janabi-Sharifi F. Visual servoing of continuum robots: Methods, challenges, and prospects. Int J Med Robot 2022; 18:e2384. [PMID: 35199451 DOI: 10.1002/rcs.2384] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/14/2021] [Revised: 02/16/2022] [Accepted: 02/19/2022] [Indexed: 01/05/2023]
Abstract
BACKGROUND Recent advancements in continuum robotics have accentuated developing efficient and stable controllers to handle shape deformation and compliance. The control of continuum robots (CRs) using physical sensors attached to the robot, particularly in confined spaces, is difficult due to their limited accuracy in three-dimensional deflections and challenging localisation. Therefore, using non-contact imaging sensors finds noticeable importance, particularly in medical scenarios. Accordingly, given the need for direct control of the robot tip and notable uncertainties in the kinematics and dynamics of CRs, many papers have focussed on the visual servoing (VS) of CRs in recent years. METHODS The significance of this research towards safe human-robot interaction has fuelled our survey on the previous methods, current challenges, and future opportunities. RESULTS Beginning with actuation modalities and modelling approaches, the paper investigates VS methods in medical and non-medical scenarios. CONCLUSIONS Finally, challenges and prospects of VS for CRs are discussed, followed by concluding remarks.
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Affiliation(s)
- Ali A Nazari
- Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada
| | - Kourosh Zareinia
- Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada
| | - Farrokh Janabi-Sharifi
- Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario, Canada
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27
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Badrou A, Tardif N, Chaudet P, Lescanne N, Szewczyk J, Blanc R, Hamila N, Gravouil A, Bel-Brunon A. Simulation of multi-curve active catheterization for endovascular navigation to complex targets. J Biomech 2022; 140:111147. [DOI: 10.1016/j.jbiomech.2022.111147] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/17/2021] [Revised: 05/09/2022] [Accepted: 05/10/2022] [Indexed: 10/18/2022]
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28
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Collins GC, Brumfiel TA, Bercu ZL, Desai JP, Lindsey BD. Dual-Resonance (16/32 MHz) Piezoelectric Transducer With a Single Electrical Connection for Forward-Viewing Robotic Guidewire. IEEE TRANSACTIONS ON ULTRASONICS, FERROELECTRICS, AND FREQUENCY CONTROL 2022; 69:1428-1441. [PMID: 35143395 PMCID: PMC9013008 DOI: 10.1109/tuffc.2022.3150746] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Peripheral artery disease (PAD) affects more than 200 million people globally. Minimally invasive endovascular procedures can provide relief and salvage limbs while reducing injury rates and recovery times. Unfortunately, when a calcified chronic total occlusion is encountered, ~25% of endovascular procedures fail due to the inability to advance a guidewire using the view provided by fluoroscopy. To enable a sub-millimeter, robotically steerable guidewire to cross these occlusions, a novel single-element, dual-band transducer is developed that provides simultaneous multifrequency, forward-viewing imaging with high penetration depth and high spatial resolution while requiring only a single electrical connection. The design, fabrication, and acoustic characterization of this device are described, and proof-of-concept imaging is demonstrated in an ex vivo porcine artery after integration with a robotically steered guidewire. Measured center frequencies of the developed transducer were 16 and 32 MHz, with -6 dB fractional bandwidths of 73% and 23%, respectively. When imaging a 0.2-mm wire target at a depth of 5 mm, measured -6 dB target widths were 0.498 ± 0.02 and 0.268 ± 0.01 mm for images formed at 16 and 32 MHz, respectively. Measured SNR values were 33.3 and 21.3 dB, respectively. The 3-D images of the ex vivo artery demonstrate high penetration for visualizing vessel morphology at 16 MHz and ability to resolve small features close to the transducer at 32 MHz. Using images acquired simultaneously at both frequencies as part of an integrated forward-viewing, guidewire-based imaging system, an interventionalist could visualize the best path for advancing the guidewire to improve outcomes for patients with PAD.
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29
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Ghoreishi SF, Sochol RD, Gandhi D, Krieger A, Fuge M. Physics-Informed Modeling and Control of Multi-Actuator Soft Catheter Robots. Front Robot AI 2022; 8:772628. [PMID: 35096981 PMCID: PMC8795879 DOI: 10.3389/frobt.2021.772628] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/08/2021] [Accepted: 11/09/2021] [Indexed: 11/13/2022] Open
Abstract
Catheter-based endovascular interventional procedures have become increasingly popular in recent years as they are less invasive and patients spend less time in the hospital with less recovery time and less pain. These advantages have led to a significant growth in the number of procedures that are performed annually. However, it is still challenging to position a catheter in a target vessel branch within the highly complicated and delicate vascular structure. In fact, vessel tortuosity and angulation, which cause difficulties in catheterization and reaching the target site, have been reported as the main causes of failure in endovascular procedures. Maneuverability of a catheter for intravascular navigation is a key to reaching the target area; ability of a catheter to move within the target vessel during trajectory tracking thus affects to a great extent the length and success of the procedure. To address this issue, this paper models soft catheter robots with multiple actuators and provides a time-dependent model for characterizing the dynamics of multi-actuator soft catheter robots. Built on this model, an efficient and scalable optimization-based framework is developed for guiding the catheter to pass through arteries and reach the target where an aneurysm is located. The proposed framework models the deflection of the multi-actuator soft catheter robot and develops a control strategy for movement of catheter along a desired trajectory. This provides a simulation-based framework for selection of catheters prior to endovascular catheterization procedures, assuring that given a fixed design, the catheter is able to reach the target location. The results demonstrate the benefits that can be achieved by design and control of catheters with multiple number of actuators for navigation into small vessels.
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Affiliation(s)
- Seyede Fatemeh Ghoreishi
- Department of Civil and Environmental Engineering and Khoury College of Computer Sciences, Northeastern University, Boston, MA, United States
| | - Ryan D. Sochol
- Department of Mechanical Engineering, University of Maryland, College Park, MD, United States
| | - Dheeraj Gandhi
- Department of Diagnostic Radiology and Nuclear Medicine, School of Medicine, University of Maryland, Baltimore, MD, United States
| | - Axel Krieger
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, United States
| | - Mark Fuge
- Department of Mechanical Engineering, University of Maryland, College Park, MD, United States
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30
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Torlakcik H, Sarica C, Bayer P, Yamamoto K, Iorio-Morin C, Hodaie M, Kalia SK, Neimat JS, Hernesniemi J, Bhatia A, Nelson BJ, Pané S, Lozano AM, Zemmar A. Magnetically Guided Catheters, Micro- and Nanorobots for Spinal Cord Stimulation. Front Neurorobot 2021; 15:749024. [PMID: 34744678 PMCID: PMC8565609 DOI: 10.3389/fnbot.2021.749024] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2021] [Accepted: 09/10/2021] [Indexed: 11/21/2022] Open
Abstract
Spinal cord stimulation (SCS) is an established treatment for refractory pain syndromes and has recently been applied to improve locomotion. Several technical challenges are faced by surgeons during SCS lead implantation, particularly in the confined dorsal epidural spaces in patients with spinal degenerative disease, scarring and while targeting challenging structures such as the dorsal root ganglion. Magnetic navigation systems (MNS) represent a novel technology that uses externally placed magnets to precisely steer tethered and untethered devices. This innovation offers several benefits for SCS electrode placement, including enhanced navigation control during tip placement, and the ability to position and reposition the lead in an outpatient setting. Here, we describe the challenges of SCS implant surgery and how MNS can be used to overcome these hurdles. In addition to tethered electrode steering, we discuss the navigation of untethered micro- and nanorobots for wireless and remote neuromodulation. The use of these small-scale devices can potentially change the current standard of practice by omitting the need for electrode and pulse generator implantation or replacement. Open questions include whether small-scale robots can generate an electrical field sufficient to activate neuronal tissue, as well as testing precise navigation, placement, anchoring, and biodegradation of micro- and nanorobots in the in vivo environment.
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Affiliation(s)
- Harun Torlakcik
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China.,Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Can Sarica
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Patrick Bayer
- Faculty of Medicine, Ludwig Maximilians University Munich, Munich, Germany
| | - Kazuaki Yamamoto
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | | | - Mojgan Hodaie
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Suneil K Kalia
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Joseph S Neimat
- Department of Neurosurgery, School of Medicine, University of Louisville, Louisville, KY, United States
| | - Juha Hernesniemi
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China
| | - Anuj Bhatia
- Department of Anesthesia and Pain Medicine, University Health Network, University of Toronto, Toronto, ON, Canada
| | - Bradley J Nelson
- Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Salvador Pané
- Multi-Scale Robotics Laboratory, Swiss Federal Institute of Technology (ETH) Zurich, Zurich, Switzerland
| | - Andres M Lozano
- Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada
| | - Ajmal Zemmar
- Department of Neurosurgery, Henan Provincial People's Hospital, Henan University People's Hospital, Henan University School of Medicine, Zhengzhou, China.,Division of Neurosurgery, Department of Surgery, University of Toronto, Toronto, ON, Canada.,Department of Neurosurgery, School of Medicine, University of Louisville, Louisville, KY, United States
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31
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Textiles in soft robots: Current progress and future trends. Biosens Bioelectron 2021; 196:113690. [PMID: 34653713 DOI: 10.1016/j.bios.2021.113690] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/25/2021] [Revised: 09/29/2021] [Accepted: 10/03/2021] [Indexed: 12/19/2022]
Abstract
Soft robotics have substantial benefits of safety, adaptability, and cost efficiency compared to conventional rigid robotics. Textiles have applications in soft robotics either as an auxiliary material to reinforce the conventional soft material or as an active soft material. Textiles of various types and configurations have been fabricated into key components of soft robotics in adaptable formats. Despite significant advancements, the efficiency and characteristics of textile actuators in practical applications remain unsatisfactory. To address these issues, novel structural and material designs as well as new textile technologies have been introduced. Herein, we aim at giving an insight into the current state of the art in textile technology for soft robotic manufacturing. We firstly discuss the fundamental actuation mechanisms for soft robotics. We then provide a critical review on the recently developed functional textiles as reinforcements, sensors, and actuators in soft robotics. Finally, the future trends and current strategies that can be employed in textile-based actuator manufacturing process have been explored to address the critical challenges in soft robotics.
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32
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Jiang W, Ye G, Chen B, Liu H. Light-driven untethered soft actuators based on biomimetic microstructure arrays. SOFT MATTER 2021; 17:8651-8661. [PMID: 34514490 DOI: 10.1039/d0sm02267e] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/13/2023]
Abstract
Soft actuators based on smart materials and structures that can perform more diverse tasks skillfully, are being intensively sought. Despite the good progress made in the past few years, locomotion and transportation functionalities of the untethered soft-bodied devices for various natural terrains remain challenging. Inspired by a gecko crawling system, an untethered soft actuator with the abilities of picking up, transporting, and delivering objects controlled by NIR light is proposed. The soft actuator consisting of photo-responsive MWCNTs units and mushroom shaped microstructures, was fabricated by an integrative soft-lithography method with inking and imprinting processes. The integrated MWCNTs unit can convert NIR light irradiation into thermal energy, which can make the body of the soft actuator generate a strong shape deformation intrinsically in a self-contained way, leading to a combined discontinuous and continuous locomotion. Moreover, the integrated mushroom shaped microstructures can also realize grasping and manipulation of the object that was not constrained by the object's shapes and sizes, which was further addressed from experimental and theoretical perspectives. Thus, the combined use of smart materials and structures opens up new research avenues and represents a step forward toward future applications of light-driven untethered soft actuators.
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Affiliation(s)
- Wei Jiang
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
| | - Guoyong Ye
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
| | - Bangdao Chen
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
| | - Hongzhong Liu
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049, China.
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33
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Wang J, Xue J, Yuan S, Tan J, Song S, Meng MQH. Kinematic Modeling of Magnetically-Actuated Robotic Catheter in Nonlinearly-Coupled Multi-Field. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3104620] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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34
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Jeon S, Park SH, Kim E, Kim J, Kim SW, Choi H. A Magnetically Powered Stem Cell-Based Microrobot for Minimally Invasive Stem Cell Delivery via the Intranasal Pathway in a Mouse Brain. Adv Healthc Mater 2021; 10:e2100801. [PMID: 34160909 DOI: 10.1002/adhm.202100801] [Citation(s) in RCA: 23] [Impact Index Per Article: 7.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/25/2021] [Revised: 06/03/2021] [Indexed: 12/12/2022]
Abstract
Targeted stem cell delivery with microrobots has emerged as a potential alternative therapeutic strategy in regenerative medicine, and intranasal administration is an effective approach for minimally invasive delivery of therapeutic agents into the brain. In this study, a magnetically powered stem cell-based microrobot ("Cellbot") is used for minimally invasive targeted stem cell delivery to the brain through the intranasal passage. The Cellbot is developed by internalizing superparamagnetic iron oxide nanoparticles (SPIONs) into human nasal turbinate stem cells. The SPIONs have no influence on hNTSC characteristics, including morphology, cell viability, and neuronal differentiation. The Cellbots are capable of proliferation and differentiation into neurons, neural precursor cells, and neurogliocytes. The Cellbots in the microfluidic channel can be reliably manipulated by an external magnetic field for orientation and position control. Using an ex vivo model based on brain organoids, it is determined that the Cellbots can be transplanted into brain tissue. Using a murine model, it is demonstrated that the Cellbots can be intranasally administered and magnetically guided to the target tissue in vivo. This approach has the potential to effectively treat central nervous system disorders in a minimally invasive manner.
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Affiliation(s)
- Sungwoong Jeon
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Sun Hwa Park
- Department of Otolaryngology‐Head and Neck Surgery Seoul St. Mary's Hospital The Catholic University Seoul 06591 Republic of Korea
| | - Eunhee Kim
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Jin‐young Kim
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Sung Won Kim
- Department of Otolaryngology‐Head and Neck Surgery Seoul St. Mary's Hospital The Catholic University Seoul 06591 Republic of Korea
| | - Hongsoo Choi
- Department of Robotics Engineering DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- Robotics Research Center DGIST Daegu 42988 Republic of Korea
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35
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Abstract
Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as low steerability and vessel access through complex geometry of vasculatures and imaging-related accumulation of radiation to both patients and operating surgeons. To address these limitations, magnetic soft continuum robots (MSCRs) in the form of magnetic field-controllable elastomeric fibers have recently demonstrated enhanced steerability under remotely applied magnetic fields. While the steerability of an MSCR largely relies on its workspace-the set of attainable points by its end effector-existing MSCRs based on embedding permanent magnets or uniformly dispersing magnetic particles in polymer matrices still cannot give optimal workspaces. The design and optimization of MSCRs have been challenging because of the lack of efficient tools. Here, we report a systematic set of model-based evolutionary design, fabrication, and experimental validation of an MSCR with a counterintuitive nonuniform distribution of magnetic particles to achieve an unprecedented workspace. The proposed MSCR design is enabled by integrating a theoretical model and the genetic algorithm. The current work not only achieves the optimal workspace for MSCRs but also provides a powerful tool for the efficient design and optimization of future magnetic soft robots and actuators.
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36
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Choi J, Hwang J, Kim J, Choi H. Recent Progress in Magnetically Actuated Microrobots for Targeted Delivery of Therapeutic Agents. Adv Healthc Mater 2021; 10:e2001596. [PMID: 33331143 DOI: 10.1002/adhm.202001596] [Citation(s) in RCA: 30] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/08/2020] [Revised: 11/13/2020] [Indexed: 12/17/2022]
Abstract
Therapeutic agents, such as drugs and cells, play an essential role in virtually every treatment of injury, illness, or disease. However, the conventional practices of drug delivery often result in undesirable side effects caused by drug overdose and off-target delivery. In the case of cell delivery, the survival rate of the transplanted cells is extremely low and difficulties with the administration route of cells remain a problem. Recently, magnetically actuated microrobots have started offering unique opportunities in targeted therapeutic delivery due to their tiny size and ability to access hard-to-reach lesions in a minimally invasive manner; considerable advances in this regard have been made over the past decade. Here, recent progress in magnetically actuated microrobots, developed for targeted drug/cell delivery, is presented, with a focus on their design features and mechanisms for controlled therapeutic release. Additionally, the practical challenges faced by the microrobots, and future research directions toward the swift bench-to-bedside translation of the microrobots are addressed.
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Affiliation(s)
- Junhee Choi
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Junsun Hwang
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Jin‐young Kim
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
| | - Hongsoo Choi
- Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
- DGIST‐ETH Microrobotics Research Center Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea
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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: 27] [Impact Index Per Article: 6.8] [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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Koleoso M, Feng X, Xue Y, Li Q, Munshi T, Chen X. Micro/nanoscale magnetic robots for biomedical applications. Mater Today Bio 2020; 8:100085. [PMID: 33299981 PMCID: PMC7702192 DOI: 10.1016/j.mtbio.2020.100085] [Citation(s) in RCA: 36] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/29/2020] [Revised: 10/21/2020] [Accepted: 10/25/2020] [Indexed: 12/15/2022] Open
Abstract
Magnetic small-scale robots are devices of great potential for the biomedical field because of the several benefits of this method of actuation. Recent work on the development of these devices has seen tremendous innovation and refinement toward improved performance for potential clinical applications. This review briefly details recent advancements in small-scale robots used for biomedical applications, covering their design, fabrication, applications, and demonstration of ability, and identifies the gap in studies and the difficulties that have persisted in the optimization of the use of these devices. In addition, alternative biomedical applications are also suggested for some of the technologies that show potential for other functions. This study concludes that although the field of small-scale robot research is highly innovative there is need for more concerted efforts to improve functionality and reliability of these devices particularly in clinical applications. Finally, further suggestions are made toward the achievement of commercialization for these devices.
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Affiliation(s)
- M. Koleoso
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - X. Feng
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - Y. Xue
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - Q. Li
- School of Engineering, Institute for Energy Systems, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
| | - T. Munshi
- School of Chemistry, University of Lincoln, Brayford Pool, Lincoln, Lincolnshire, LN6 7TS, UK
| | - X. Chen
- School of Engineering, Institute for Bioengineering, The University of Edinburgh, King's Buildings, Mayfield Road, Edinburgh EH9 3JL, UK
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