1
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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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2
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Zhou J, Li M, Li N, Zhou Y, Wang J, Jiao N. System integration of magnetic medical microrobots: from design to control. Front Robot AI 2023; 10:1330960. [PMID: 38169802 PMCID: PMC10758462 DOI: 10.3389/frobt.2023.1330960] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/31/2023] [Accepted: 11/28/2023] [Indexed: 01/05/2024] Open
Abstract
Magnetic microrobots are ideal for medical applications owing to their deep tissue penetration, precise control, and flexible movement. After decades of development, various magnetic microrobots have been used to achieve medical functions such as targeted delivery, cell manipulation, and minimally invasive surgery. This review introduces the research status and latest progress in the design and control systems of magnetic medical microrobots from a system integration perspective and summarizes the advantages and limitations of the research to provide a reference for developers. Finally, the future development direction of magnetic medical microrobot design and control systems are discussed.
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Affiliation(s)
- Junjian Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Mengyue Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Na Li
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Yuting Zhou
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of Chinese Academy of Sciences, Beijing, China
| | - Jingyi Wang
- College of Information and Electrical Engineering, Shenyang Agricultural University, Shenyang, China
| | - Niandong Jiao
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
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3
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Wang H, Cui J, Tian K, Han Y. Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet. Nat Commun 2023; 14:7491. [PMID: 37980421 PMCID: PMC10657469 DOI: 10.1038/s41467-023-42783-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/03/2023] [Accepted: 10/20/2023] [Indexed: 11/20/2023] Open
Abstract
Magnetic actuation has been well exploited for untethered manipulation and locomotion of small-scale robots in complex environments such as intracorporeal lumens. Most existing magnetic actuation systems employ a permanent magnet onboard the robot. However, only 2-DoF orientation of the permanent-magnet robot can be controlled since no torque can be generated about its axis of magnetic moment, which limits the dexterity of manipulation. Here, we propose a new magnetic actuation method using a single soft magnet with an anisotropic geometry (e.g., triaxial ellipsoids) for full 3-DoF orientation manipulation. The fundamental actuation principle of anisotropic magnetization and 3-DoF torque generation are analytically modeled and experimentally validated. The hierarchical orientation stability about three principal axes is investigated, based on which we propose and validate a multi-step open-loop control strategy to alternatingly manipulate the direction of the longest axis of the soft magnet and the rotation about it for dexterous 3-DoF orientation manipulation.
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Affiliation(s)
- Heng Wang
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China.
| | - Junhao Cui
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| | - Kuan Tian
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
| | - Yuxiang Han
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, Guangdong, China
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4
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Sakuma H. Three-dimensional motion control of an untethered magnetic object using three rotating permanent magnets. Sci Rep 2023; 13:18052. [PMID: 37872282 PMCID: PMC10593945 DOI: 10.1038/s41598-023-45419-2] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Accepted: 10/19/2023] [Indexed: 10/25/2023] Open
Abstract
Magnetic motion control has been actively studied mainly for the purpose of biomedical applications. However, in many cases, many actuator magnets surround a small magnet to be moved, and they consume large electric power. In some cases, complex calculations are required to estimate the control input of the actuator magnets. This study proposes a simple method to move a small magnet to the desired positions. For this, three cylindrical permanent magnets magnetized in the radial direction were positioned as the sides of a triangle; these actuator magnets were rotated using motors. By monitoring the position of the small magnet and through simple feedback control based on the angles of the three actuator magnets, the untethered small magnet could be moved along arbitrary three-dimensional (3D) paths. The control principle was established by calculating the magnetic force and torque acting on the small magnet for some sets of actuator-magnet angles.
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Affiliation(s)
- Hiroshi Sakuma
- School of Engineering, Utsunomiya University, 7-1-2 Yoto, Utsunomiya, 321-8585, Japan.
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5
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Limpabandhu C, Hu Y, Ren H, Song W, Tse ZTH. Actuation technologies for magnetically guided catheters. MINIM INVASIV THER 2023; 32:137-152. [PMID: 37073683 DOI: 10.1080/13645706.2023.2198004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2022] [Accepted: 03/22/2023] [Indexed: 04/20/2023]
Abstract
Due to their wide range of clinical application possibilities, magnetic actuation technologies have grabbed the attention of researchers worldwide. The design, execution, and analysis of magnetic catheter systems have advanced significantly during the last decade. The review focuses on magnetic actuation for catheter steering and control of the device, which will be explored in detail in the following sections. There is a discussion of future work and the challenges of the review systems, and 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, United Kingdom
| | - Yihua Hu
- Department of Electronic Engineering, University of York, York, United Kingdom
| | - Hongliang Ren
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong
| | - Wenzhan Song
- School of Electrical and Computer Engineering, University of Georgia, GA, USA
| | - Zion Tsz Ho Tse
- School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
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6
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Hu X, Zuo D, Cheng S, Chen S, Liu Y, Bao W, Deng S, Harris SJ, Wan J. Ultrafast materials synthesis and manufacturing techniques for emerging energy and environmental applications. Chem Soc Rev 2023; 52:1103-1128. [PMID: 36651148 DOI: 10.1039/d2cs00322h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
Abstract
Energy and environmental issues have attracted increasing attention globally, where sustainability and low-carbon emissions are seriously considered and widely accepted by government officials. In response to this situation, the development of renewable energy and environmental technologies is urgently needed to complement the usage of traditional fossil fuels. While a big part of advancement in these technologies relies on materials innovations, new materials discovery is limited by sluggish conventional materials synthesis methods, greatly hindering the advancement of related technologies. To address this issue, this review introduces and comprehensively summarizes emerging ultrafast materials synthesis methods that could synthesize materials in times as short as nanoseconds, significantly improving research efficiency. We discuss the unique advantages of these methods, followed by how they benefit individual applications for renewable energy and the environment. We also highlight the scalability of ultrafast manufacturing towards their potential industrial utilization. Finally, we provide our perspectives on challenges and opportunities for the future development of ultrafast synthesis and manufacturing technologies. We anticipate that fertile opportunities exist not only for energy and the environment but also for many other applications.
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Affiliation(s)
- Xueshan Hu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.
| | - Daxian Zuo
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.
| | - Shaoru Cheng
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.
| | - Sihui Chen
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.
| | - Yang Liu
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.
| | - Wenzhong Bao
- State Key Laboratory of ASIC and System, School of Microelectronics, Fudan University, Shanghai, 200433, China
| | - Sili Deng
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, MA, USA
| | - Stephen J Harris
- Energy Storage and Distributed Resources Division, Lawrence Berkeley National Laboratory, Berkeley, 94720, CA, USA
| | - Jiayu Wan
- Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China.
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7
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Sun H, Liu J, Wang Q, Lai C, Chi W, Niu C, Wang L, Teng Z, Shi Y, Tian P. In vivo animal study of the magnetic navigation system for capsule endoscope manipulation within the esophagus, stomach, and colorectum. Med Phys 2022; 49:6813-6823. [PMID: 36087029 DOI: 10.1002/mp.15976] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/01/2022] [Revised: 08/22/2022] [Accepted: 08/27/2022] [Indexed: 12/13/2022] Open
Abstract
BACKGROUND/PURPOSES Magnetic navigation capsule endoscopy (MNCE) is considered to be an important means to realize the controllable and precise examination of capsule endoscopy (CE) in the unstructured gastrointestinal (GI) tract. For the current magnetic navigation system (MNS), due to the limitation of workspace, driving force, and control method of the CE, only clinical application in the stomach has been realized, whereas the examination of other parts of the GI tract is still in the experimental stage. More preclinical studies are needed to achieve the multisite examination of the GI tract. METHODS Based on the MNS (Supiee) developed in the laboratory, an X-ray imaging system with magnetic shielding and a commercial CE are integrated to form the MNCE system. Then, in vivo GI tract experiments with a porcine model are performed to verify the clinical feasibility and safety of this system. Moreover, the effects of different control modes on the efficiency and effect of GI tract examination are studied. RESULTS Animal experiments demonstrate that with the MNCE system, it is convenient to achieve steering control in any direction and multiple reciprocating movements of CE in the GI tract. Benefiting from the flexibility of the three basic control modes, the achieved swing movement pattern of CE can effectively reduce the inspection time. It is demonstrated that the esophageal examination time can be reduced from 13.2 to 9.2 min with a maximum movement speed of 5 mm/s. CONCLUSION In this paper, the feasibility, safety, and efficacy of the MNCE system for a one-stop examination of the in vivo GI tract (esophagus, stomach, and colorectum) is first demonstrated. In addition, complex movement patterns of CE such as the swinging are proved to effectively improve examination efficiency and disease detection rates. This study is crucial for the clinical application of the MNCE system.
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Affiliation(s)
- Hongbo Sun
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Jianhua Liu
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Qiuliang Wang
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Chunxiao Lai
- Department of Gastroenterology, Baiyun Branch, Nanfang Hospital, Southern Medical University, Guangzhou, China
| | - Wenqiang Chi
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China
| | - Chaoqun Niu
- College of Information and Communication Engineering, Faculty of Information Technology, Beijing University of Technology, Beijing, China
| | - Lei Wang
- Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing, China.,University of Chinese Academy of Sciences, Beijing, China
| | - Zhifan Teng
- College of Electrical and Information Engineering, Hunan University, Changsha, China
| | - Yang Shi
- School of Mechanical and Electrical Engineering, Xi'an Technological University, Xi'an, China
| | - Peilong Tian
- School of Mechanical and Electrical Engineering, Xi'an Technological University, Xi'an, China
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8
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Dalton DK, Tabor GF, Hermans T, Abbott JJ. Attracting Conductive Nonmagnetic Objects With Rotating Magnetic Dipole Fields. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3194878] [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)
- Devin K. Dalton
- Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA
| | - Griffin F. Tabor
- School of Computing and the Robotics Center, University of Utah, Salt Lake City, UT, USA
| | - Tucker Hermans
- School of Computing and the Robotics Center, University of Utah, Salt Lake City, UT, USA
| | - Jake J. Abbott
- Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA
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9
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Song Z, Zhang W, Zhang W, Paolo D. A Novel Biopsy Capsule Robot Based on High-Speed Cutting Tissue. CYBORG AND BIONIC SYSTEMS 2022; 2022:9783517. [PMID: 39081833 PMCID: PMC11288281 DOI: 10.34133/2022/9783517] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2022] [Accepted: 07/17/2022] [Indexed: 08/02/2024] Open
Abstract
The capsule robot (CR) is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to users. Most CRs are used to acquire image information only and lack the ability to collect samples. Although some biopsy capsule robots (BCRs) have been developed, it remains challenging to acquire the intestinal tissue while avoiding tearing and adhesion due to the flexibility of colonic tissue. In this study, we develop a BCR with a novel sampling strategy in which soft tissue is scratched with sharp blades rotating at high speed to avoid tissue tearing. In the BCR design, a spiral spring with prestored energy is used to release high energy within a short period of time, which is difficult for a motor or magnet to perform within a small capacity installation space. The energy of the tightened spiral spring is transmitted to drive sharp blades to rotate quickly via a designed gear mechanism. To guarantee reliable sampling, a Bowden cable is used to transmit the user's manipulation to trigger the rotation of the blades, and the triggering force transmitted by the cable can be monitored in real time by a force sensor installed at the manipulating end. A prototype of the proposed BCR is designed and fabricated, and its performance is tested through in vitro experiments. The results show that the proposed BCR is effective and the size of its acquired samples satisfies clinical requirements.
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Affiliation(s)
- Zhibin Song
- Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300072, China
| | - Wenjie Zhang
- Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300072, China
| | - Wenhui Zhang
- Beijing Shijitan Hospital, Capital Medical University, Beijing 100084, China
| | - Dario Paolo
- Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300072, China
- The BioRobotics Institute, Scuola Superiore Sant’Anna, 56100 Pisa, Italy
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10
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Dynamical electromagnetic actuation system for microscale manipulation. ROBOTICA 2022. [DOI: 10.1017/s0263574722000418] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
Abstract
Electromagnetic actuation systems (EMA) have excelled themselves in microscale manipulation. Yet, the fastened structure of the current systems tethers the controlled workspace. In this paper, a new electromagnetic actuation principle is investigated. The actuator structure consists of a pair of coaxially movable electromagnets integrated to a robotic manipulator. The pair induces a coaxial homogeneous magnetic field or gradient to control the magnitude of the magnetic torque or force by changing the distance between the electromagnets asymmetrically. The robotic manipulator, on the other hand, transports the pair at five degrees of freedom to manipulate a microrobot in 3D space by closed-loop control with integrated vision feedback system. Numerical analyses are performed to investigate the induced electromagnetic field at the symmetrical/asymmetrical configuration of the coaxial pair. Accordingly, a correlation between the magnitude of the magnetic force and the asymmetric distance is obtained for flexible force control. A proof of concept prototype is constructed to validate the proposed actuation principle and evaluate its performance experimentally. The experimental results verify the numerical analysis and show the system applicability of inducing controlled forces on a micro-object in 2D and 3D workspaces at a velocity range of 65 to 157
$\mu$
m/s. Moreover, micromanipulation on a helical route is also demonstrated with an absolute error mean from the reference path of 191
$\mu$
m.
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11
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Xu Y, Li K, Zhao Z, Meng MQH. Autonomous Magnetic Navigation Framework for Active Wireless Capsule Endoscopy Inspired by Conventional Colonoscopy Procedures. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3141378] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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12
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Ma W, Huan Z, Xu M. Numerical Optimization and Map-Based Manipulation With a Quadrupole Electromagnetic Actuated System. Front Neurorobot 2022; 16:859996. [PMID: 35370594 PMCID: PMC8967965 DOI: 10.3389/fnbot.2022.859996] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/22/2022] [Accepted: 02/14/2022] [Indexed: 11/17/2022] Open
Abstract
Electromagnetic actuation is a new technique for non-invasive manipulation, which provides wireless and controllable power source for magnetic micro-/nano-particles. This technique shows great potential in the field of precise mechanics, environment protection, and biomedical engineering. In this paper, a new quadrupole electromagnetic actuated system was constructed, which was composed of four electromagnetic coils, each coil being actuated by an independent DC power supplier. The magnetic field distribution in the workspace was obtained through finite element modeling and numerical simulation via COMSOL software, as well as the effect of the current flow through the coil in the field distribution. Moreover, parameters of the electromagnetic system were optimized through parametric modeling analysis. A magnetic field map was constructed for rapidly solving the desired driving current from the required magnetic flux density. Experiments were conducted to manipulate a micro-particle along the desired circular path. The proposed work provides theoretical references and numerical fundamentals for the control of magnetic particle in future.
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13
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Abstract
In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.
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Affiliation(s)
- Yoonho Kim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xuanhe Zhao
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
- Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
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14
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Yao J, Yao C, Zhang A, Xu X, Wu A, Yang F. Magnetomechanical force: an emerging paradigm for therapeutic applications. J Mater Chem B 2022; 10:7136-7147. [DOI: 10.1039/d2tb00428c] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/21/2022]
Abstract
Mechanical forces, which play an profound role in cell fate regulation, have prompted the rapid development and popularization of mechanobiology. More recently, magnetic fields in combination with intelligent materials featuring...
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15
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Zhang Q, Prendergast JM, Formosa GA, Fulton MJ, Rentschler ME. Enabling Autonomous Colonoscopy Intervention Using a Robotic Endoscope Platform. IEEE Trans Biomed Eng 2021; 68:1957-1968. [PMID: 33296299 DOI: 10.1109/tbme.2020.3043388] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
OBJECTIVE Robotic endoscopes have the potential to dramatically improve endoscopy procedures, however current attempts remain limited due to mobility and sensing challenges and have yet to offer the full capabilities of traditional tools. Endoscopic intervention (e.g., biopsy) for robotic systems remains an understudied problem and must be addressed prior to clinical adoption. This paper presents an autonomous intervention technique onboard a Robotic Endoscope Platform (REP) using endoscopy forceps, an auto-feeding mechanism, and positional feedback. METHODS A workspace model is established for estimating tool position while a Structure from Motion (SfM) approach is used for target-polyp position estimation with the onboard camera and positional sensor. Utilizing this data, a visual system for controlling the REP position and forceps extension is developed and tested within multiple anatomical environments. RESULTS The workspace model demonstrates accuracy of 5.5% while the target-polyp estimates are within 5 mm of absolute error. This successful experiment requires only 15 seconds once the polyp has been located, with a success rate of 43% using a 1 cm polyp, 67% for a 2 cm polyp, and 81% for a 3 cm polyp. CONCLUSION Workspace modeling and visual sensing techniques allow for autonomous endoscopic intervention and demonstrate the potential for similar strategies to be used onboard mobile robotic endoscopic devices. SIGNIFICANCE To the authors' knowledge this is the first attempt at automating the task of colonoscopy intervention onboard a mobile robot. While the REP is not sized for actual procedures, these techniques are translatable to devices suitable for in vivo application.
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Alsunaydih FN, Yuce MR. Next-generation ingestible devices: sensing, locomotion and navigation. Physiol Meas 2021; 42. [PMID: 33706294 DOI: 10.1088/1361-6579/abedc0] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/18/2020] [Accepted: 03/11/2021] [Indexed: 12/15/2022]
Abstract
There is significant interest in exploring the human body's internal activities and measuring important parameters to understand, treat and diagnose the digestive system environment and related diseases. Wireless capsule endoscopy (WCE) is widely used for gastrointestinal (GI) tract exploration due to its effectiveness as it provides no pain and is totally tolerated by the patient. Current ingestible sensing technology provides a valuable diagnostic tool to establish a platform for monitoring the physiological and biological activities inside the human body. It is also used for visualizing the GI tract to observe abnormalities by recording the internal cavity while moving. However, the capsule endoscopy is still passive, and there is no successful locomotion method to control its mobility through the whole GI tract. Drug delivery, localization of abnormalities, cost reduction and time consumption are improvements that can be gained from having active ingestible WCEs. In this article, the current technological developments of ingestible devices including sensing, locomotion and navigation are discussed and compared. The main features required to implement next-generation active WCEs are explored. The methods are evaluated in terms of the most important features such as safety, velocity, complexity of design, control, and power consumption.
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Affiliation(s)
- Fahad N Alsunaydih
- Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, VIC, Australia.,Department of Electrical Engineering, Qassim University, Onizah, Qassim, Saudi Arabia
| | - Mehmet R Yuce
- Department of Electrical and Computer Systems Engineering, Monash University, Melbourne, VIC, Australia
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Abstract
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Manipulation and navigation of micro
and nanoswimmers in different
fluid environments can be achieved by chemicals, external fields,
or even motile cells. Many researchers have selected magnetic fields
as the active external actuation source based on the advantageous
features of this actuation strategy such as remote and spatiotemporal
control, fuel-free, high degree of reconfigurability, programmability,
recyclability, and versatility. This review introduces fundamental
concepts and advantages of magnetic micro/nanorobots (termed here
as “MagRobots”) as well as basic knowledge of magnetic
fields and magnetic materials, setups for magnetic manipulation, magnetic
field configurations, and symmetry-breaking strategies for effective
movement. These concepts are discussed to describe the interactions
between micro/nanorobots and magnetic fields. Actuation mechanisms
of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave
locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted
motion), applications of magnetic fields in other propulsion approaches,
and magnetic stimulation of micro/nanorobots beyond motion are provided
followed by fabrication techniques for (quasi-)spherical, helical,
flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots
in targeted drug/gene delivery, cell manipulation, minimally invasive
surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery,
pollution removal for environmental remediation, and (bio)sensing
are also reviewed. Finally, current challenges and future perspectives
for the development of magnetically powered miniaturized motors are
discussed.
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Affiliation(s)
- Huaijuan Zhou
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Tannenstrasse 3, 8092 Zurich, Switzerland
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic.,Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan.,Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00 Brno, Czech Republic.,Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea.,Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno CZ-612 00, Czech Republic
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18
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Independent position control of two identical magnetic microrobots in a plane using rotating permanent magnets. JOURNAL OF MICRO-BIO ROBOTICS 2021. [DOI: 10.1007/s12213-021-00143-w] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/20/2023]
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19
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Saw WS, Anasamy T, Foo YY, Kwa YC, Kue CS, Yeong CH, Kiew LV, Lee HB, Chung LY. Delivery of Nanoconstructs in Cancer Therapy: Challenges and Therapeutic Opportunities. ADVANCED THERAPEUTICS 2021. [DOI: 10.1002/adtp.202000206] [Citation(s) in RCA: 12] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/11/2022]
Affiliation(s)
- Wen Shang Saw
- Department of Pharmaceutical Chemistry Faculty of Pharmacy University of Malaya Kuala Lumpur 50603 Malaysia
| | - Theebaa Anasamy
- Department of Pharmaceutical Chemistry Faculty of Pharmacy University of Malaya Kuala Lumpur 50603 Malaysia
| | - Yiing Yee Foo
- Department of Pharmacology Faculty of Medicine University of Malaya Kuala Lumpur 50603 Malaysia
| | - Yee Chu Kwa
- Department of Pharmaceutical Chemistry Faculty of Pharmacy University of Malaya Kuala Lumpur 50603 Malaysia
| | - Chin Siang Kue
- Department of Diagnostic and Allied Health Sciences Faculty of Health and Life Sciences Management and Science University Shah Alam Selangor 40100 Malaysia
| | - Chai Hong Yeong
- School of Medicine Faculty of Health and Medical Sciences Taylor's University Subang Jaya Selangor 47500 Malaysia
| | - Lik Voon Kiew
- Department of Pharmacology Faculty of Medicine University of Malaya Kuala Lumpur 50603 Malaysia
| | - Hong Boon Lee
- Department of Pharmaceutical Chemistry Faculty of Pharmacy University of Malaya Kuala Lumpur 50603 Malaysia
- School of Biosciences Faculty of Health and Medical Sciences Taylor's University Subang Jaya Selangor 47500 Malaysia
| | - Lip Yong Chung
- Department of Pharmaceutical Chemistry Faculty of Pharmacy University of Malaya Kuala Lumpur 50603 Malaysia
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20
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Wu S, Hu W, Ze Q, Sitti M, Zhao R. Multifunctional magnetic soft composites: a review. MULTIFUNCTIONAL MATERIALS 2020; 3:042003. [PMID: 33834121 PMCID: PMC7610551 DOI: 10.1088/2399-7532/abcb0c] [Citation(s) in RCA: 65] [Impact Index Per Article: 16.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Magnetically responsive soft materials are soft composites where magnetic fillers are embedded into soft polymeric matrices. These active materials have attracted extensive research and industrial interest due to their ability to realize fast and programmable shape changes through remote and untethered control under the application of magnetic fields. They would have many high-impact potential applications in soft robotics/devices, metamaterials, and biomedical devices. With a broad range of functional magnetic fillers, polymeric matrices, and advanced fabrication techniques, the material properties can be programmed for integrated functions, including programmable shape morphing, dynamic shape deformation-based locomotion, object manipulation and assembly, remote heat generation, as well as reconfigurable electronics. In this review, an overview of state-of-the-art developments and future perspectives in the multifunctional magnetically responsive soft materials is presented.
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Affiliation(s)
- Shuai Wu
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Qiji Ze
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ruike Zhao
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
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Xu Y, Li K, Meng MQH. A Novel Approach for Automatic State Detection of A Magnetically Actuated Capsule. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2020; 2020:4766-4769. [PMID: 33019056 DOI: 10.1109/embc44109.2020.9176691] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
In recent years, the Simultaneous Magnetic Actuation and Localization (SMAL) technology has been developed to accelerate and locate the wireless capsule endoscopy (WCE) in the intestine. In this paper, we propose a novel approach to detect the state of the capsule for improving the localization results. By creating a function to fit the relationship between the theoretical values of the actuating magnetic field and the measurement results, we present an algorithm for automatic estimation of the capsule state according to the fitting parameters. Experiment results on phantoms demonstrate the feasibility of the proposed method for detecting different states of the capsule during magnetic actuation.
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22
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Martin JW, Scaglioni B, Norton JC, Subramanian V, Arezzo A, Obstein KL, Valdastri P. Enabling the future of colonoscopy with intelligent and autonomous magnetic manipulation. NAT MACH INTELL 2020; 2:595-606. [PMID: 33089071 PMCID: PMC7571595 DOI: 10.1038/s42256-020-00231-9] [Citation(s) in RCA: 48] [Impact Index Per Article: 12.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/19/2020] [Accepted: 09/01/2020] [Indexed: 12/24/2022]
Abstract
Early diagnosis of colorectal cancer significantly improves survival. However, over half of cases are diagnosed late due to demand exceeding the capacity for colonoscopy - the "gold standard" for screening. Colonoscopy is limited by the outdated design of conventional endoscopes, associated with high complexity of use, cost and pain. Magnetic endoscopes represent a promising alternative, overcoming drawbacks of pain and cost, but struggle to reach the translational stage as magnetic manipulation is complex and unintuitive. In this work, we use machine vision to develop intelligent and autonomous control of a magnetic endoscope, for the first time enabling non-expert users to effectively perform magnetic colonoscopy in-vivo. We combine the use of robotics, computer vision and advanced control to offer an intuitive and effective endoscopic system. Moreover, we define the characteristics required to achieve autonomy in robotic endoscopy. The paradigm described here can be adopted in a variety of applications where navigation in unstructured environments is required, such as catheters, pancreatic endoscopy, bronchoscopy, and gastroscopy. This work brings alternative endoscopic technologies closer to the translational stage, increasing availability of early-stage cancer treatments.
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Affiliation(s)
| | | | | | | | - Alberto Arezzo
- Department of Surgical Science, University of Torino, Corso Dogliotti, Turin, Italy
| | - Keith L. Obstein
- STORM Lab USA, Vanderbilt University, Nashville, USA
- Vanderbilt University Medical Centre, Nashville, TN, USA
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23
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Niedert EE, Bi C, Adam G, Lambert E, Solorio L, Goergen CJ, Cappelleri DJ. A Tumbling Magnetic Microrobot System for Biomedical Applications. MICROMACHINES 2020; 11:E861. [PMID: 32957563 PMCID: PMC7569920 DOI: 10.3390/mi11090861] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/10/2020] [Revised: 09/12/2020] [Accepted: 09/15/2020] [Indexed: 12/15/2022]
Abstract
A microrobot system comprising an untethered tumbling magnetic microrobot, a two-degree-of-freedom rotating permanent magnet, and an ultrasound imaging system has been developed for in vitro and in vivo biomedical applications. The microrobot tumbles end-over-end in a net forward motion due to applied magnetic torque from the rotating magnet. By turning the rotational axis of the magnet, two-dimensional directional control is possible and the microrobot was steered along various trajectories, including a circular path and P-shaped path. The microrobot is capable of moving over the unstructured terrain within a murine colon in in vitro, in situ, and in vivo conditions, as well as a porcine colon in ex vivo conditions. High-frequency ultrasound imaging allows for real-time determination of the microrobot's position while it is optically occluded by animal tissue. When coated with a fluorescein payload, the microrobot was shown to release the majority of the payload over a 1-h time period in phosphate-buffered saline. Cytotoxicity tests demonstrated that the microrobot's constituent materials, SU-8 and polydimethylsiloxane (PDMS), did not show a statistically significant difference in toxicity to murine fibroblasts from the negative control, even when the materials were doped with magnetic neodymium microparticles. The microrobot system's capabilities make it promising for targeted drug delivery and other in vivo biomedical applications.
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Affiliation(s)
- Elizabeth E. Niedert
- Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN 47907, USA; (E.E.N.); (E.L.); (L.S.); (C.J.G.)
| | - Chenghao Bi
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA; (C.B.); (G.A.)
| | - Georges Adam
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA; (C.B.); (G.A.)
| | - Elly Lambert
- Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN 47907, USA; (E.E.N.); (E.L.); (L.S.); (C.J.G.)
| | - Luis Solorio
- Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN 47907, USA; (E.E.N.); (E.L.); (L.S.); (C.J.G.)
- Center for Cancer Research, Purdue University, West Lafayette, IN 47907, USA
| | - Craig J. Goergen
- Weldon School of Biomedical Engineering, Purdue University, West Lafayette, IN 47907, USA; (E.E.N.); (E.L.); (L.S.); (C.J.G.)
- Center for Cancer Research, Purdue University, West Lafayette, IN 47907, USA
| | - David J. Cappelleri
- School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA; (C.B.); (G.A.)
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24
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St Pierre R, Gao W, Clark JE, Bergbreiter S. Viscoelastic legs for open-loop control of gram-scale robots. BIOINSPIRATION & BIOMIMETICS 2020; 15:055005. [PMID: 32580172 DOI: 10.1088/1748-3190/ab9fa9] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/11/2023]
Abstract
Gram-scale insects, such as cockroaches, take advantage of the mechanical properties of the musculoskeletal system to enable rapid and robust running. Engineering gram-scale robots, much like their biological counterparts, comes with inherent constraints on resources due to their small sizes. Resource-constrained robots are generally limited in their computational complexity, making controlled, high-speed locomotion a challenge, especially in unstructured environments. In this paper we show that embedding control into the leg mechanics of robots, similarly to cockroaches, results in predictable dynamics from an open-loop control strategy that can be modified through material choice. Tuning the mechanical properties of gram-scale robot legs promotes high-speed, stable running, reducing the need for active control. We utilize a torque-driven damped spring-loaded inverted pendulum model to explore the behavior and the design space of a spring-damper leg at this scale. The resulting design maps show the trade-offs in performance goals, such as speed and efficiency, with stability, as well as the sensitivity in performance to the leg properties and the control input. Finally, we demonstrate experimental results with magnetically actuated quadrupedal gram-scale robots, incorporating viscoelastic legs and demonstrating speeds up to 11.7 body lengths per second.
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Affiliation(s)
- Ryan St Pierre
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, United States of America
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25
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Formosa GA, Prendergast JM, Edmundowicz SA, Rentschler ME. Novel Optimization-Based Design and Surgical Evaluation of a Treaded Robotic Capsule Colonoscope. IEEE T ROBOT 2020. [DOI: 10.1109/tro.2019.2949466] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022]
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26
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Chaluvadi B, Stewart KM, Sperry AJ, Fu HC, Abbott JJ. Kinematic Model of a Magnetic-Microrobot Swarm in a Rotating Magnetic Dipole Field. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2972857] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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27
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An Optimal Design of an Electromagnetic Actuation System towards a Large Homogeneous Magnetic Field and Accessible Workspace for Magnetic Manipulation. ENERGIES 2020. [DOI: 10.3390/en13040911] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/23/2022]
Abstract
Untethered nano-/microrobots have been appealing to biomedical applications under magnetic guidance. Numerous actuation systems are specifically designed to generate either uniform or non-uniform fields which are unable to support all actuating mechanisms of magnetic robots. The size of their accessible space does not enable applications in life sciences (e.g., placing around human parts for tasks or an in vivo experiment in animals). Moreover, homogeneity of uniform magnetic fields is limited in a small region. Here, we propose an electromagnetic coil system that is optimally designed based on numerical simulation investigations to derestrict the mentioned constraints. The built-up system provides a large bore in which magnetic field generation by passing a 10 A current is strong enough for nano-/micromanipulation switchable between uniformity in a large-homogeneous region about 50-mm-wide along the x- and y-axes and 80-mm-wide along the z-axis, and with a non-uniformity of about 12 mT with 100 mT/m. It experimentally carries out potential and versatile controls to manipulate several commonly used microrobots that require a particular type of magnetic field to perform multi-DOF locomotion in diverse viscous environments. (e.g., helical propulsion by rotating magnetic field in the 3D-large workspace and in the complex network path, side-to-side sweeping-slip locomotion by oscillating fields, translation and rocking-slip locomotion by gradient-based fields). Besides, the system can be reproduced into any accessible space size regarding the square coil size to support diverse applications and guarantee the result in both uniformity of magnetic field in the large homogeneous region and a sufficiently strong gradient over the workspace.
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Liu YL, Chen JJ, Ahmad F, Zhang TD, Guo WH, Ye YJ, Shang P, Yin DC. A Novel Approach to Accumulate Superparamagnetic Particles in Aqueous Environment Using Time-Varying Magnetic Field. IEEE Trans Biomed Eng 2019; 67:1558-1564. [PMID: 31502959 DOI: 10.1109/tbme.2019.2940029] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Abstract
OBJECTIVE Magnetic drug targeting (MDT) has attracted a lot of attention in recent years as a treatment to reduce side effects and improve efficacy. To realize successful MDT, a magnet system that can create suitable magnetic field is necessary. However, the existing technology has some shortcomings such as low targeting efficiency and unsatisfactory targeting effect. The method of using time-varying magnetic field proposed in this paper provides a new solution to this problem. METHODS In this work, a permanent magnet system providing rotational magnetic field (a time-varying magnetic field) was designed and constructed. Focusing experiments of Fe3O4 particles were carried out in this system, and the mechanism of the focusing was discussed via a simplified model. RESULTS By using the rotational magnetic field, superparamagnetic Fe3O4 particles can be successfully driven to the designated site within a short time. Our work showed that the time-varying magnetic field can drive the superparamagnetic particles to a focusing site, which is not possible under the same magnetic field without rotation, and the aggregation speed and effect are better than those under static field. CONCLUSION AND SIGNIFICANCE Our results indicate that time-varying magnetic field can be a good choice for designing magnet systems for MDT. Moreover, the idea of using time-varying magnetic field for focusing superparamagnetic particles may be applicable in non-contact processings or manipulations of paramagnetic, superparamagnetic, or even ferromagnetic materials or objects in preparation of novel materials, robotic control of objects, and so on.
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Turan M, Almalioglu Y, Gilbert HB, Mahmood F, Durr NJ, Araujo H, Sari AE, Ajay A, Sitti M. Learning to Navigate Endoscopic Capsule Robots. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2924846] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
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Liu YL, Chen D, Shang P, Yin DC. A review of magnet systems for targeted drug delivery. J Control Release 2019; 302:90-104. [PMID: 30946854 DOI: 10.1016/j.jconrel.2019.03.031] [Citation(s) in RCA: 119] [Impact Index Per Article: 23.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2019] [Revised: 03/28/2019] [Accepted: 03/29/2019] [Indexed: 11/18/2022]
Abstract
Magnetic drug targeting is a method by which magnetic drug carriers in the body are manipulated by external magnetic fields to reach the target area. This method is potentially promising in applications for treatment of diseases like cancers, nervous system diseases, sudden sensorineural hearing loss, and so on, due to the advantages in that it can improve efficacy, reduce drug dosage and side effects. Therefore, it has received extensive attention in recent years. Successful magnetic drug targeting requires a good magnet system to guide the drug carriers to the target site. Up to date there have been many efforts to design the magnet systems for targeted drug delivery. However, there are few comprehensive reviews on these systems. Here we review the progresses made in this field. We summarized the systems already developed or proposed, and categorized them into two groups: static field magnet systems and varying field magnet systems. Based on the requirements for more powerful targeting performance, the prospects and the future research directions in this field are anticipated.
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Affiliation(s)
- Ya-Li Liu
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China; Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, Guangzhou, PR China
| | - Da Chen
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China
| | - Peng Shang
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China; Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, Guangzhou, PR China
| | - Da-Chuan Yin
- Institute for Special Environmental Biophysics, Key Laboratory for Space Bioscience and Biotechnology, School of Life Sciences, Northwestern Polytechnical University, Xi'an 710072, PR China; Shenzhen Research Institute of Northwestern Polytechnical University, Shenzhen 518057, Guangzhou, PR China.
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Feng H, Lu Y, Chen D, Ma T, Fu Y. Development on a magnetic anchoring robot system based on visual servo control for laparoendoscopic single-site surgery. Int J Med Robot 2018; 14:e1904. [PMID: 29974669 DOI: 10.1002/rcs.1904] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/13/2017] [Revised: 12/26/2017] [Accepted: 01/23/2018] [Indexed: 01/08/2023]
Abstract
BACKGROUND Surgical robot systems have been used in laparoendoscopic single-site surgery (LESS) to improve patient outcomes. A magnetic anchoring surgical robot system for LESS can effectively extend the operation space. METHODS A robot system based on visual servo control for LESS is proposed. It includes a magnetic anchoring robot and a control subsystem, in which an uncalibrated visual servo control method obtains an accurate positioning capability of the robot for LESS. RESULTS The results of the simulation and the tissue experiment show that the robot system can successfully accomplish the expected control functionalities for LESS. The average positioning error of the proposed system is 1.622 mm. CONCLUSION The magnetic anchoring robot system is able to implement the autonomous positioning of its end-effector through the proposed control approach according to experimental results.
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Affiliation(s)
- Haibo Feng
- Harbin Institute of Technology, Harbin, Heilongjiang Province, China
| | - Yu Lu
- Faw-volkswagen Automative Co., Changchun, China
| | - Dong Chen
- Harbin Institute of Technology, Harbin, Heilongjiang Province, China
| | - Tengfei Ma
- Harbin Institute of Technology, Harbin, Heilongjiang Province, China
| | - Yili Fu
- Harbin Institute of Technology, Harbin, Heilongjiang Province, China
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Prendergast JM, Formosa GA, Rentschler ME. A Platform for Developing Robotic Navigation Strategies in a Deformable, Dynamic Environment. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2827168] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Leong F, Mohammadi A, Tan Y, Thiruchelvam D, Lai CY, Valdastri P, Oetomo D. Disturbance Rejection in Multi-DOF Local Magnetic Actuation for the Robotic Abdominal Surgery. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2800795] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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35
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Taddese AZ, Slawinski PR, Pirotta M, De Momi E, Obstein KL, Valdastri P. Enhanced Real-Time Pose Estimation for Closed-Loop Robotic Manipulation of Magnetically Actuated Capsule Endoscopes. Int J Rob Res 2018; 37:890-911. [PMID: 30150847 PMCID: PMC6108552 DOI: 10.1177/0278364918779132] [Citation(s) in RCA: 63] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
Pose estimation methods for robotically guided magnetic actuation of capsule endoscopes have recently enabled trajectory following and automation of repetitive endoscopic maneuvers. However, these methods face significant challenges in their path to clinical adoption including the presence of regions of magnetic field singularity, where the accuracy of the system degrades, and the need for accurate initialization of the capsule's pose. In particular, the singularity problem exists for any pose estimation method that utilizes a single source of magnetic field if the method does not rely on the motion of the magnet to obtain multiple measurements from different vantage points. We analyze the workspace of such pose estimation methods with the use of the point-dipole magnetic field model and show that singular regions exist in areas where the capsule is nominally located during magnetic actuation. Since the dipole model can approximate most magnetic field sources, the problem discussed herein pertains to a wider set of pose estimation techniques. We then propose a novel hybrid approach employing static and time-varying magnetic field sources and show that this system has no regions of singularity. The proposed system was experimentally validated for accuracy, workspace size, update rate and performance in regions of magnetic singularity. The system performed as well or better than prior pose estimation methods without requiring accurate initialization and was robust to magnetic singularity. Experimental demonstration of closed-loop control of a tethered magnetic device utilizing the developed pose estimation technique is provided to ascertain its suitability for robotically guided capsule endoscopy. Hence, advances in closed-loop control and intelligent automation of magnetically actuated capsule endoscopes can be further pursued toward clinical realization by employing this pose estimation system.
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Affiliation(s)
- Addisu Z. Taddese
- Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Piotr R. Slawinski
- Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
| | - Marco Pirotta
- Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy
| | - Elena De Momi
- Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milan, Italy
| | - Keith L. Obstein
- Science and Technology of Robotics in Medicine (STORM) Laboratory USA, Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA
- Division of Gastroenterology, Hepatology, and Nutrition, Vanderbilt University Medical Center, Nashville, TN, USA
| | - Pietro Valdastri
- Science and Technology of Robotics in Medicine (STORM) Laboratory UK, School of Electronic and Electrical Engineering, University of Leeds, Leeds, UK
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36
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Hunter EE, Brink EW, Steager EB, Kumar V. Toward Soft Micro Bio Robots for Cellular and Chemical Delivery. IEEE Robot Autom Lett 2018. [DOI: 10.1109/lra.2018.2800118] [Citation(s) in RCA: 29] [Impact Index Per Article: 4.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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37
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Leon L, Warren FM, Abbott JJ. Optimizing the Magnetic Dipole-Field Source for Magnetically Guided Cochlear-Implant Electrode-Array Insertions. ACTA ACUST UNITED AC 2018; 3. [PMID: 30009274 DOI: 10.1142/s2424905x18500046] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
Magnetic guidance of cochlear-implant electrode arrays during insertion has been demonstrated in vitro to reduce insertion forces, which is believed to be correlated to a reduction in trauma. In those prior studies, the magnetic dipole-field source (MDS) was configured to travel on a path that would be coincident with the cochlea's modiolar axis, which was an unnecessary constraint that was useful to demonstrate feasibility. In this paper, we determine the optimal configuration (size and location) of a spherical-permanent-magnet MDS needed to accomplish guided insertions with a 100 mT field strength required at the cochlea, and we provide a methodology to perform such an optimization more generally. Based on computed-tomography scans of 30 human subjects, the MDS should be lateral-to and slightly anterior-to the cochlea with an approximate radius (mean and standard deviation across subjects) of 64 mm and 4.5 mm, respectively. We compare these results to the modiolar configuration and find that the volume of the MDS can be reduced by a factor of five with a 43% reduction in its radius by moving it to the optimal location. We conservatively estimate that the magnetic forces generated by the optimal configuration are two orders of magnitude below the threshold needed to puncture the basilar membrane. Although subject-specific optimal configurations are computed in this paper, a one-size-fits-all version with a radius of approximately 75 mm is more robust to registration error and likely more practical. Finally, we explain how to translate the results obtained to an electromagnetic MDS.
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Affiliation(s)
- Lisandro Leon
- Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA.,Sarcos Robotics, Salt Lake City, UT, USA
| | | | - Jake J Abbott
- Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA
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38
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Ryan P, Diller E. Magnetic Actuation for Full Dexterity Microrobotic Control Using Rotating Permanent Magnets. IEEE T ROBOT 2017. [DOI: 10.1109/tro.2017.2719687] [Citation(s) in RCA: 56] [Impact Index Per Article: 8.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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39
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Wright SE, Mahoney AW, Popek KM, Abbott JJ. The Spherical-Actuator-Magnet Manipulator: A Permanent-Magnet Robotic End-Effector. IEEE T ROBOT 2017. [DOI: 10.1109/tro.2017.2694841] [Citation(s) in RCA: 35] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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40
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Shamsudhin N, Zverev VI, Keller H, Pane S, Egolf PW, Nelson BJ, Tishin AM. Magnetically guided capsule endoscopy. Med Phys 2017; 44:e91-e111. [PMID: 28437000 DOI: 10.1002/mp.12299] [Citation(s) in RCA: 35] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2016] [Revised: 02/22/2017] [Accepted: 04/13/2017] [Indexed: 12/18/2022] Open
Abstract
Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air- and fluid-filled lumina and cavities in the body for minimally invasive medicine.
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Affiliation(s)
- Naveen Shamsudhin
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Vladimir I Zverev
- Faculty of Physics, M.V. Lomonosov Moscow State University, Moscow, 119991, Russia
| | - Henrik Keller
- KUKA Roboter GmbH, Zugspitzstrasse 140, Augsburg, 86165, Germany
| | - Salvador Pane
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Peter W Egolf
- Institute of Thermal Sciences and Engineering, University of Applied Sciences of Western Switzerland, Yverdon-les-Bains, CH 1401, Switzerland
| | - Bradley J Nelson
- Multi-Scale Robotics Lab, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, CH 8092, Switzerland
| | - Alexander M Tishin
- Faculty of Physics, M.V. Lomonosov Moscow State University, Moscow, 119991, Russia.,Pharmag LLC, Promyshlennaya st 4, Troitsk, Moscow, 142190, Russia
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41
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Abstract
Spiral capsule robots can be applied to human gastrointestinal tracts and blood vessels. Because of significant variations in the sizes of the inner diameters of the intestines as well as blood vessels, this research has been unable to meet the requirements for medical applications. By applying the fluid dynamic equations, using the computational fluid dynamics method, to a robot axial length ranging from 10-5 to 10-2 m, the operational performance indicators (axial driving force, load torque, and maximum fluid pressure on the pipe wall) of the spiral capsule robot and the fluid turbulent intensity around the robot spiral surfaces was numerically calculated in a straight rigid pipe filled with fluid. The reasonableness and validity of the calculation method adopted in this study were verified by the consistency of the calculated values by the computational fluid dynamics method and the experimental values from a relevant literature. The results show that the greater the fluid turbulent intensity, the greater the impact of the fluid turbulence on the driving performance of the spiral capsule robot and the higher the energy consumption of the robot. For the same level of size of the robot, the axial driving force, the load torque, and the maximum fluid pressure on the pipe wall of the outer spiral robot were larger than those of the inner spiral robot. For different requirements of the operating environment, we can choose a certain kind of spiral capsule robot. This study provides a theoretical foundation for spiral capsule robots.
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Affiliation(s)
- Liang Liang
- 1 Department of Mechanical and Electrical Engineering, Changsha University, Changsha, China
| | - Rong Hu
- 2 Department of Obstetrics and Gynecology, Xiangya Hospital, Central South University, Changsha, China
| | - Bai Chen
- 3 Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology, Nanjing University of Aeronautics and Astronautics, Nanjing, China
| | - Yong Tang
- 1 Department of Mechanical and Electrical Engineering, Changsha University, Changsha, China
| | - Yan Xu
- 1 Department of Mechanical and Electrical Engineering, Changsha University, Changsha, China
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42
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Pierre RS, Bergbreiter S. Gait Exploration of Sub-2 g Robots Using Magnetic Actuation. IEEE Robot Autom Lett 2017. [DOI: 10.1109/lra.2016.2523603] [Citation(s) in RCA: 26] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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43
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Popek KM, Schmid T, Abbott JJ. Six-Degree-of-Freedom Localization of an Untethered Magnetic Capsule Using a Single Rotating Magnetic Dipole. IEEE Robot Autom Lett 2017. [DOI: 10.1109/lra.2016.2608421] [Citation(s) in RCA: 41] [Impact Index Per Article: 5.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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44
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Madani K, Khanmohammadi S, Azimirad V. Finding Optimal Actuation Configuration for Magnetically Driven Capsule Endoscopy Based on Genetic Algorithm. J Med Biol Eng 2016. [DOI: 10.1007/s40846-016-0180-6] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
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45
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Leong F, Garbin N, Natali CD, Mohammadi A, Thiruchelvam D, Oetomo D, Valdastri P. Magnetic Surgical Instruments for Robotic Abdominal Surgery. IEEE Rev Biomed Eng 2016; 9:66-78. [PMID: 26829803 DOI: 10.1109/rbme.2016.2521818] [Citation(s) in RCA: 31] [Impact Index Per Article: 3.9] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
This review looks at the implementation of magnetic-based approaches in surgical instruments for abdominal surgeries. As abdominal surgical techniques advance toward minimizing surgical trauma, surgical instruments are enhanced to support such an objective through the exploration of magnetic-based systems. With this design approach, surgical devices are given the capabilities to be fully inserted intraabdominally to achieve access to all abdominal quadrants, without the conventional rigid link connection with the external unit. The variety of intraabdominal surgical devices are anchored, guided, and actuated by external units, with power and torque transmitted across the abdominal wall through magnetic linkage. This addresses many constraints encountered by conventional laparoscopic tools, such as loss of triangulation, fulcrum effect, and loss/lack of dexterity for surgical tasks. Design requirements of clinical considerations to aid the successful development of magnetic surgical instruments, are also discussed.
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46
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Yang W, Li Z, He Y, Dai H, Wu Z. Experimental Investigation of the Spiral Structure of a Magnetic Capsule Endoscope. INT J ADV ROBOT SYST 2016. [DOI: 10.5772/63930] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022] Open
Abstract
Fitting a wireless capsule endoscope (WCE) with a navigation feature can maximize its functional benefits. The rotation of a spiral-type capsule can be converted to translational motion. The study investigated how the spiral structure and rotational speed affected the capsule's translation speed. A hand-held instrument, including two permanent magnets, a stepper motor, a controller and a power supplier, were designed to generate rotational magnetic fields. The surfaces of custom-built permanent magnet rings magnetized radially were mounted in spiral lines with different lead angles and diameters, acting as mock-up capsules. The experimental results demonstrate that the rotational speed of the magnetic field and the spiral have significant effects on the translational speed of a capsule. The spiral line with a larger lead angle and the rotating magnetic field with a higher speed can change the capsule's rotation into a translational motion more efficiently in the intestine.
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Affiliation(s)
- Wanan Yang
- School of Computer and Information Engineering, Yibin University, Yibin, China
| | - Zhen Li
- Chuanqing Drilling Engineering Company Limited Geophysical Prospecting Company, CNPC, China
| | - Yong He
- School of Computer and Information Engineering, Yibin University, Yibin, China
| | - Houde Dai
- Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, China
| | - Zhouxing Wu
- Quanzhou Institute of Equipment Manufacturing, Fujian Institute of Research on the Structure of Matter, Chinese Academy of Sciences, China
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47
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Munoz F, Alici G, Li W. A Magnetically Actuated Drug Delivery System for Robotic Endoscopic Capsules. J Med Device 2015. [DOI: 10.1115/1.4031811] [Citation(s) in RCA: 12] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
There is an increasing need to incorporate an actively controlled drug delivery system (DDS) into the next generation of capsule endoscopy in order to treat diseases in the gastrointestinal tract in a noninvasive way. Despite a number of attempts to magnetically actuate drug delivery mechanisms embedded in endoscopic capsules, longer operating distances and further miniaturization of on-board components are still drawbacks of such systems. In this paper, we propose an innovative magnetic system that consists of an array of magnets, which activates a DDS, based on an overly miniaturized slider–crank mechanism. We use analytical models to compare the magnetic fields generated by cylindrical and arc-shaped magnets. Our experimental results, which are in agreement with the analytical results, show that an optimally configured array of the magnets enhances the magnetic field and also the driving magnetic torque and subsequently, it imposes a high enough force on the piston of the DDS to expel a required dose of a drug out of a reservoir. We conclude that the proposed magnetic field optimization method is effective in establishing an active DDS that is designed to deliver drug profiles with accurate control of the release rate, release amount, and number of doses.
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Affiliation(s)
- Fredy Munoz
- School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong, Wollongong, NSW 2522, Australia e-mail:
| | - Gursel Alici
- ARC Center of Excellence for Electromaterials Science, School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong, Wollongong, NSW 2522, Australia e-mail:
| | - Weihua Li
- School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong, Wollongong, NSW 2522, Australia e-mail:
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48
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Slawinski PR, Obstein KL, Valdastri P. Capsule endoscopy of the future: What's on the horizon? World J Gastroenterol 2015; 21:10528-41. [PMID: 26457013 PMCID: PMC4588075 DOI: 10.3748/wjg.v21.i37.10528] [Citation(s) in RCA: 22] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 04/27/2015] [Revised: 06/22/2015] [Accepted: 08/31/2015] [Indexed: 02/06/2023] Open
Abstract
Capsule endoscopes have evolved from passively moving diagnostic devices to actively moving systems with potential therapeutic capability. In this review, we will discuss the state of the art, define the current shortcomings of capsule endoscopy, and address research areas that aim to overcome said shortcomings. Developments in capsule mobility schemes are emphasized in this text, with magnetic actuation being the most promising endeavor. Research groups are working to integrate sensor data and fuse it with robotic control to outperform today's standard invasive procedures, but in a less intrusive manner. With recent advances in areas such as mobility, drug delivery, and therapeutics, we foresee a translation of interventional capsule technology from the bench-top to the clinical setting within the next 10 years.
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49
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Magnetic Actuation Based Motion Control for Microrobots: An Overview. MICROMACHINES 2015. [DOI: 10.3390/mi6091346] [Citation(s) in RCA: 78] [Impact Index Per Article: 8.7] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/20/2023]
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50
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Mahoney AW, Abbott JJ. Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy. Int J Rob Res 2015. [DOI: 10.1177/0278364914558006] [Citation(s) in RCA: 134] [Impact Index Per Article: 14.9] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023]
Abstract
This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-distended stomach. We analyze the kinematics of magnetic manipulation using a single permanent magnet as the end-effector of a serial-link robot manipulator, and we formulate a control method that enables the capsule’s position and direction to be controlled when the robot manipulator is not in a kinematic singularity, and that sacrifices control over the capsule’s direction to maintain control over the capsule’s position when the manipulator enters a singularity. We demonstrate the method’s robustness to a reduced control rate of 25 Hz, reduced localization rates down to 30 Hz, deviation in the applied magnetic field from that expected, and the presence of manipulator singularities. Five-DOF manipulation of an untethered magnetic device has been previously demonstrated by electromagnetic systems only.
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Affiliation(s)
| | - Jake J. Abbott
- Department of Mechanical Engineering,
University of Utah, USA
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