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Analysis and Comparison of Electromagnetic Microrobotic Platforms for Biomedical Applications. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12010456] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/06/2023]
Abstract
Magnetic microrobotics is a promising technology for improving minimally invasive surgery (MIS) with the ambition of enhancing patient care and comfort. The potential benefits include limited incisions, less hemorrhaging and postoperative pain, and faster recovery time. To achieve this, a key issue relies on the design of a proper electromagnetic actuation (EMA) setup which is based on the use of magnetic sources. The magnetic field and its gradient generated by the EMA platform is then used to induce magnetic torque and force for microrobot manipulations inside the human body. Like any control systems, the EMA system must be adapted to the given controlled microrobot and customized for the application. With great research efforts on magnetic manipulating of microrobots, the EMA systems are approaching commercial applications, and their configurations are becoming more suitable to be employed in real medical surgeries. However, most of the proposed designs have not followed any specific rule allowing to take into account the biomedical applications constraints. Through reviewing the different proposed EMA systems in the literature, their various specifications and configurations are comprehensively discussed and analyzed. This study focus on EMA platforms that use electromagnets. From this review and based on the biomedical application specifications, the appropriate EMA system can be determined efficiently.
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Hemodynamics Challenges for the Navigation of Medical Microbots for the Treatment of CVDs. MATERIALS 2021; 14:ma14237402. [PMID: 34885556 PMCID: PMC8658690 DOI: 10.3390/ma14237402] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/21/2021] [Revised: 11/25/2021] [Accepted: 11/28/2021] [Indexed: 01/03/2023]
Abstract
Microbots have been considered powerful tools in minimally invasive medicine. In the last few years, the topic has been highly studied by researchers across the globe to further develop the capabilities of microbots in medicine. One of many applications of these devices is performing surgical procedures inside the human circulatory system. It is expected that these microdevices traveling along the microvascular system can remove clots, deliver drugs, or even look for specific cells or regions to diagnose and treat. Although many studies have been published about this subject, the experimental influence of microbot morphology in hemodynamics of specific sites of the human circulatory system is yet to be explored. There are numerical studies already considering some of human physiological conditions, however, experimental validation is vital and demands further investigations. The roles of specific hemodynamic variables, the non-Newtonian behavior of blood and its particulate nature at small scales, the flow disturbances caused by the heart cycle, and the anatomy of certain arteries (i.e., bifurcations and tortuosity of vessels of some regions) in the determination of the dynamic performance of microbots are of paramount importance. This paper presents a critical analysis of the state-of-the-art literature related to pulsatile blood flow around microbots.
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Nguyen KT, Go G, Zhen J, Hoang MC, Kang B, Choi E, Park JO, Kim CS. Locomotion and disaggregation control of paramagnetic nanoclusters using wireless electromagnetic fields for enhanced targeted drug delivery. Sci Rep 2021; 11:15122. [PMID: 34302003 PMCID: PMC8302636 DOI: 10.1038/s41598-021-94446-4] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/16/2021] [Accepted: 07/12/2021] [Indexed: 11/09/2022] Open
Abstract
Magnetic nanorobots (MNRs) based on paramagnetic nanoparticles/nanoclusters for the targeted therapeutics of anticancer drugs have been highlighted for their efficiency potential. Controlling the locomotion of the MNRs is a key challenge for effective delivery to the target legions. Here, we present a method for controlling paramagnetic nanoclusters through enhanced tumbling and disaggregation motions with a combination of rotating field and gradient field generated by external electromagnets. The mechanism is carried out via an electromagnetic actuation system capable of generating MNR motions with five degrees of freedom in a spherical workspace without singularity. The nanocluster swarm structures can successfully pass through channels to the target region where they can disaggregate. The results show significantly faster response and higher targeting rate by using rotating magnetic and gradient fields. The mean velocities of the enhanced tumbling motion are twice those of the conventional tumbling motion and approximately 130% higher than the gradient pulling motion. The effects of each fundamental factor on the locomotion are investigated for further MNR applications. The locomotion speed of the MNR could be predicted by the proposed mathematical model and agrees well with experimental results. The high access rate and disaggregation performance insights the potentials for targeted drug delivery application.
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Affiliation(s)
- Kim Tien Nguyen
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea
| | - Gwangjun Go
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea
| | - Jin Zhen
- College of Medical Engineering, Xinxiang Medical University, Xinxiang, Henan, China
| | - Manh Cuong Hoang
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea.,School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju, Korea
| | - Byungjeon Kang
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea.,College of AI Convergence, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju, Korea
| | - Eunpyo Choi
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea.,School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju, Korea
| | - Jong-Oh Park
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea.
| | - Chang-Sei Kim
- Korea Institute of Medical Microrobotics (KIMIRo), 43-26 Cheomdangwagi-ro, Buk-gu, Gwangju, Korea. .,School of Mechanical Engineering, Chonnam National University, 77 Yongbong-ro, Buk-gu, Gwangju, Korea.
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Ceylan H, Yasa IC, Kilic U, Hu W, Sitti M. Translational prospects of untethered medical microrobots. ACTA ACUST UNITED AC 2019. [DOI: 10.1088/2516-1091/ab22d5] [Citation(s) in RCA: 75] [Impact Index Per Article: 15.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022]
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Li N, Jiang Y, Plantefève R, Michaud F, Nosrati Z, Tremblay C, Saatchi K, Häfeli UO, Kadoury S, Moran G, Joly F, Martel S, Soulez G. Magnetic Resonance Navigation for Targeted Embolization in a Two-Level Bifurcation Phantom. Ann Biomed Eng 2019; 47:2402-2415. [PMID: 31290038 DOI: 10.1007/s10439-019-02317-x] [Citation(s) in RCA: 18] [Impact Index Per Article: 3.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/30/2019] [Accepted: 06/28/2019] [Indexed: 12/22/2022]
Abstract
This work combines a particle injection system with our proposed magnetic resonance navigation (MRN) sequence with the intention of validating MRN in a two-bifurcation phantom for endovascular treatment of hepatocellular carcinoma (HCC). A theoretical physical model used to calculate the most appropriate size of the magnetic drug-eluting bead (MDEB, 200 μm) aggregates was proposed. The aggregates were injected into the phantom by a dedicated particle injector while a trigger signal was automatically sent to the MRI to start MRN which consists of interleaved tracking and steering sequences. When the main branch of the phantom was parallel to B0, the aggregate distribution ratio in the (left-left, left-right, right-left and right-right divisions was obtained with results of 8, 68, 24 and 0% respectively at baseline (no MRN) and increased to 84%, 100, 84 and 92% (p < 0.001, p = 0.004, p < 0.001, p < 0.001) after implementing our MRN protocol. When the main branch was perpendicular to B0, the right-left branch, having the smallest baseline distribution rate of 0%, reached 80% (p < 0.001) after applying MRN. Moreover, the success rate of MRN was always more than 92% at the 1st bifurcation in the experiments above.
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Affiliation(s)
- Ning Li
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada.,Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada
| | - Yuting Jiang
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada.,Department of Radiology, Radiation-Oncology and Nuclear Medicine and Institute of Biomedical Engineering, Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montréal, QC, H3T 1J4, Canada
| | - Rosalie Plantefève
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada
| | - Francois Michaud
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada.,Department of Radiology, Radiation-Oncology and Nuclear Medicine and Institute of Biomedical Engineering, Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montréal, QC, H3T 1J4, Canada
| | - Zeynab Nosrati
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Charles Tremblay
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada
| | - Katayoun Saatchi
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Urs O Häfeli
- University of British Columbia, 2405 Wesbrook Mall, Vancouver, BC, V6T 1Z3, Canada
| | - Samuel Kadoury
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada.,Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada
| | | | - Florian Joly
- INRIA Paris, 2 rue Simone Iff, 75012, Paris, France
| | - Sylvain Martel
- Polytechnique Montréal, Chemin de Polytechnique, 2500 Chemin de Polytechnique, Montréal, QC, 28 H3T 1J4, Canada
| | - Gilles Soulez
- Laboratory of Clinical Image Processing, Le Centre de recherche du CHUM (CRCHUM), 900 Rue Saint-Denis, Montréal, QC, H2X 0A9, Canada. .,Department of Radiology, Radiation-Oncology and Nuclear Medicine and Institute of Biomedical Engineering, Université de Montréal, 2900 Boulevard Édouard-Montpetit, Montréal, QC, H3T 1J4, Canada.
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Akay A, Hess H. Deep Learning: Current and Emerging Applications in Medicine and Technology. IEEE J Biomed Health Inform 2019; 23:906-920. [PMID: 30676989 DOI: 10.1109/jbhi.2019.2894713] [Citation(s) in RCA: 27] [Impact Index Per Article: 5.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
Machine learning is enabling researchers to analyze and understand increasingly complex physical and biological phenomena in traditional fields such as biology, medicine, and engineering and emerging fields like synthetic biology, automated chemical synthesis, and biomanufacturing. These fields require new paradigms toward understanding increasingly complex data and converting such data into medical products and services for patients. The move toward deep learning and complex modeling is an attempt to bridge the gap between acquiring massive quantities of complex data, and converting such data into practical insights. Here, we provide an overview of the field of machine learning, its current applications and needs in traditional and emerging fields, and discuss an illustrative attempt at using deep learning to understand swarm behavior of molecular shuttles.
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Rahmer J, Stehning C, Gleich B. Remote magnetic actuation using a clinical scale system. PLoS One 2018; 13:e0193546. [PMID: 29494647 PMCID: PMC5832300 DOI: 10.1371/journal.pone.0193546] [Citation(s) in RCA: 38] [Impact Index Per Article: 6.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/25/2017] [Accepted: 02/13/2018] [Indexed: 11/19/2022] Open
Abstract
Remote magnetic manipulation is a powerful technique for controlling devices inside the human body. It enables actuation and locomotion of tethered and untethered objects without the need for a local power supply. In clinical applications, it is used for active steering of catheters in medical interventions such as cardiac ablation for arrhythmia treatment and for steering of camera pills in the gastro-intestinal tract for diagnostic video acquisition. For these applications, specialized clinical-scale field applicators have been developed, which are rather limited in terms of field strength and flexibility of field application. For a general-purpose field applicator, flexible field generation is required at high field strengths as well as high field gradients to enable the generation of both torques and forces on magnetic devices. To date, this requirement has only been met by small-scale experimental systems. We have built a highly versatile clinical-scale field applicator that enables the generation of strong magnetic fields as well as strong field gradients over a large workspace. We demonstrate the capabilities of this coil-based system by remote steering of magnetic drills through gel and tissue samples with high torques on well-defined curved trajectories. We also give initial proof that, when equipped with high frequency transmit-receive coils, the machine is capable of real-time magnetic particle imaging while retaining a clinical-scale bore size. Our findings open the door for image-guided radiation-free remote magnetic control of devices at the clinical scale, which may be useful in minimally invasive diagnostic and therapeutic medical interventions.
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Affiliation(s)
- Jürgen Rahmer
- Philips GmbH Innovative Technologies, Research Laboratories, Hamburg, Germany
| | | | - Bernhard Gleich
- Philips GmbH Innovative Technologies, Research Laboratories, Hamburg, Germany
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Mura M, Parrini S, Ciuti G, Ferrari V, Freschi C, Ferrari M, Dario P, Menciassi A. A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking. Comput Assist Surg (Abingdon) 2016; 21:63-79. [DOI: 10.1080/24699322.2016.1185467] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022] Open
Affiliation(s)
- Marco Mura
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | | | - Gastone Ciuti
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | | | | | | | - Paolo Dario
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
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10
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Sitti M, Ceylan H, Hu W, Giltinan J, Turan M, Yim S, Diller E. Biomedical Applications of Untethered Mobile Milli/Microrobots. PROCEEDINGS OF THE IEEE. INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS 2015; 103:205-224. [PMID: 27746484 PMCID: PMC5063027 DOI: 10.1109/jproc.2014.2385105] [Citation(s) in RCA: 293] [Impact Index Per Article: 32.6] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/19/2023]
Abstract
Untethered robots miniaturized to the length scale of millimeter and below attract growing attention for the prospect of transforming many aspects of health care and bioengineering. As the robot size goes down to the order of a single cell, previously inaccessible body sites would become available for high-resolution in situ and in vivo manipulations. This unprecedented direct access would enable an extensive range of minimally invasive medical operations. Here, we provide a comprehensive review of the current advances in biome dical untethered mobile milli/microrobots. We put a special emphasis on the potential impacts of biomedical microrobots in the near future. Finally, we discuss the existing challenges and emerging concepts associated with designing such a miniaturized robot for operation inside a biological environment for biomedical applications.
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Affiliation(s)
- Metin Sitti
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany, and also are with Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15238 USA
| | - Hakan Ceylan
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Wenqi Hu
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Joshua Giltinan
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany, and also are with Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15238 USA
| | - Mehmet Turan
- Max-Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Sehyuk Yim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 USA
| | - Eric Diller
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON M5S3G8, Canada
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Plötner P, Harada K, Sugita N, Mitsuishi M. Theoretical analysis of magnetically propelled microrobots in the cardiovascular system. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2015; 2014:870-3. [PMID: 25570097 DOI: 10.1109/embc.2014.6943729] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
The field of medical microrobotics is rapidly progressing; however, it is particularly challenging to control microrobots inside blood vessels. In this paper, the magnetic propulsion of a microrobot in pulsating flow is investigated. Regarding this task, the advantages of a reduced blood flow velocity are examined. The required magnetic field gradient in relation to the size of the microrobot is theoretically analyzed and compared to that for propulsion during reduced blood flow velocity. Quantitative and qualitative advantages together with the practical challenges are discussed.
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Bigot A, Tremblay C, Soulez G, Martel S. Magnetic Resonance Navigation of a Bead Inside a Three-Bifurcation PMMA Phantom Using an Imaging Gradient Coil Insert. IEEE T ROBOT 2014. [DOI: 10.1109/tro.2014.2300591] [Citation(s) in RCA: 24] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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