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Hao B, Wang X, Dong Y, Sun M, Xin C, Yang H, Cao Y, Zhu J, Liu X, Zhang C, Su L, Li B, Zhang L. Focused ultrasound enables selective actuation and Newton-level force output of untethered soft robots. Nat Commun 2024; 15:5197. [PMID: 38890294 PMCID: PMC11189400 DOI: 10.1038/s41467-024-49148-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/01/2023] [Accepted: 05/23/2024] [Indexed: 06/20/2024] Open
Abstract
Untethered miniature soft robots have significant application potentials in biomedical and industrial fields due to their space accessibility and safe human interaction. However, the lack of selective and forceful actuation is still challenging in revolutionizing and unleashing their versatility. Here, we propose a focused ultrasound-controlled phase transition strategy for achieving millimeter-level spatially selective actuation and Newton-level force of soft robots, which harnesses ultrasound-induced heating to trigger the phase transition inside the robot, enabling powerful actuation through inflation. The millimeter-level spatial resolution empowers single robot to perform multiple tasks according to specific requirements. As a concept-of-demonstration, we designed soft robot for liquid cargo delivery and biopsy robot for tissue acquisition and patching. Additionally, an autonomous control system is integrated with ultrasound imaging to enable automatic acoustic field alignment and control. The proposed method advances the spatiotemporal response capability of untethered miniature soft robots, holding promise for broadening their versatility and adaptability.
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Affiliation(s)
- Bo Hao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Xin Wang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Yue Dong
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, PR China.
| | - Mengmeng Sun
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Chen Xin
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Haojin Yang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Yanfei Cao
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Jiaqi Zhu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Xurui Liu
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Chong Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Lin Su
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China
| | - Bing Li
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, 518055, PR China.
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
- Multi-Scale Medical Robotics Center, Hong Kong Science Park, Shatin NT, Hong Kong, SAR 999077, PR China.
- CUHK T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
- Chow Yuk Ho Technology Center for Innovative Medicine, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong, SAR 999077, PR China.
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Pellatt GC, Geddis T. Neurogenic continence. Part 2: neurogenic bladder management. ACTA ACUST UNITED AC 2008; 17:904, 906, 908-913. [DOI: 10.12968/bjon.2008.17.14.30658] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Affiliation(s)
- Glynis Collis Pellatt
- Faculty of Health and Social Sciences, University of Bedfordshire; AVEC, Stoke Mandeville Hospital
| | - Tracey Geddis
- Outpatients Department, National Spinal Injuries Centre, Stoke Mandeville Hospital, Aylesbury, Buckinghamshire
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Abstract
AIMS This paper reports the findings of a study that aimed to understand the perspectives of community dwelling adults' who lived with a permanently indwelling urinary catheter. The objectives of the research were to: reveal the participants' perspective of living in the community with a permanent indwelling urinary catheter, raise awareness of the experiences of catheterized men and women and to inform community nursing practice. BACKGROUND Catheter care is a common nursing intervention. Clinical Nurse Consultants (CNCs) with a focus on continence drove this inquiry because it was believed that Community Nurses may underestimate the impact that a permanently indwelling catheter may have on peoples' lives. DESIGN Structured interviews were undertaken with twelve men and nine women (n = 21), aged between 24 and 82 years and who had a permanently indwelling catheter (either urethral or supra pubic) for longer than six months. Analysis of the interview transcripts was a collaboration between the researchers and clinicians. RESULTS The most significant finding was that participants wanted to learn urinary catheter self-care as this allowed them to take control and gave relevance to their daily life. Data revealed a learning pattern consisting of seven interrelated themes as people have learned to self-manage: (i) resisting the intrusion of a catheter, (ii) reckoning with the need for a catheter, (iii) being vigilant for signs of problems, (iv) reconciling between the needs of self and others, (v) reclaiming life, (vi) managing self-care, and (vii) taking control. CONCLUSIONS We do not suggest that people undergo a straightforward path toward catheter self-care, rather, that the seven interactive themes we have identified may be useful for observation in nursing practice whilst sensitizing nurses to clients' experiences of living with a catheter. RELEVANCE TO CLINICAL PRACTICE Promoting self-care of a catheter is not simply about educating clients about their condition or giving them relevant information. It is intrinsically a learning process, observing responses to every day events, such as the identification of the different sounds and sensations that may alert the individual to a full catheter bag, urine that has stopped flowing or signs of impending infection.
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Affiliation(s)
- Debbie Kralik
- RDNS Research Unit, University of South Australia, Glenside 5065, South Australia.
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Abstract
Selecting the most appropriate urinary catheter and drainage system is an important factor towards patient comfort. Inappropriate selection may introduce an array of unnecessary catheter-associated problems and discomfort for the patient. The author has found that nurses may be able to name or recognize catheters they use, but not other makes and models of similar products produced by other companies. Therefore, selecting a catheter and drainage system can be confusing due to the vast array of catheters, materials used and drainage systems available from various companies. Consideration should also be given as to when catheter care begins: before or following catheter insertion. This article is written to help in the selection of a urinary catheter and drainage system which is best suited for the patient.
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Affiliation(s)
- John Robinson
- Continence Advisory Service, Morecambe Bay Primary Care Trust NHS, Queen Victoria Centre, Lancashire
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Abstract
Catheter selection is a skilled element of continence care, particularly when the catheter is intended to remain in situ for prolonged periods. It is important to choose carefully, referring to catheter length, material, Charrière size and balloon infill volume, any of which may--if not attended to correctly--cause problems. This article gives some advice on catheter selection and outlines what may occur if certain issues are dealt with incorrectly.
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Smarick SD, Haskins SC, Aldrich J, Foley JE, Kass PH, Fudge M, Ling GV. Incidence of catheter-associated urinary tract infection among dogs in a small animal intensive care unit. J Am Vet Med Assoc 2004; 224:1936-40. [PMID: 15230447 DOI: 10.2460/javma.2004.224.1936] [Citation(s) in RCA: 57] [Impact Index Per Article: 2.9] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
Abstract
OBJECTIVE To determine incidence of and possible risk factors for catheter-associated urinary tract infection (UTI) among dogs hospitalized in an intensive care unit and compare results of bacterial culture of urine samples with results of bacterial culture of catheter tips. DESIGN Prospective study. ANIMALS 39 dogs. PROCEDURE A standard protocol for aseptic catheter placement and maintenance was used. Urine samples were obtained daily and submitted for bacterial culture. When possible, the urinary catheter tip was collected aseptically at the time of catheter removal and submitted for bacterial culture. Bacteria that were obtained were identified and tested for antimicrobial susceptibility. RESULTS 4 of the 39 (10.3%) dogs developed a UTI. The probability of remaining free from UTI after 1 day in the intensive care unit was 94.9%, and the probability of remaining free from UTI after 4 days was 63.3%. Bacteria isolates were generally common urinary tract pathogens and were susceptible to most antimicrobials. Specific risk factors for catheter-associated UTI, beyond a lack of antimicrobial administration, were not identified. Positive predictive value of bacterial culture of urinary catheter tips was only 25%. CONCLUSIONS AND CLINICAL RELEVANCE Results suggest that placement of an indwelling urinary catheter in dogs is associated with a low risk of catheter-associated UTI during the first 3 days after catheter placement, provided that adequate precautions are taken for aseptic catheter placement and maintenance. Results of bacterial culture of urinary catheter tips should not be used to predict whether dogs developed catheter-associated UTI.
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Affiliation(s)
- Sean D Smarick
- Veterinary Medical Teaching Hospital, School of Veterinary Medicine, University of California, Davis, CA 95616, USA
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Abstract
The insertion of catheters into male emergency patients is fairly common practice and is associated with a worryingly high rate of infection. Everyday pressures within the department, along with the added stress of resuscitation can result in inappropriately trained or skilled staff undertaking this procedure. The issue of gender and whether female nurses should catheterize male patients may also affect this vulnerable group of patients. Acquiring the psychomotor skills of inserting a urethral catheter is only one part of preparation for practice. Emergency nurses must know when and when not to resort to catheterization. Choosing the type and size of catheter requires careful judgment. What will you do if insertion proves difficult? Prevention of infection is of paramount importance and there are an increasing number of evidence-based sources of information, which are crucial to formulating procedures and informing every day practice. In the pressured surroundings of A&E departments, it is easy to ignore the vulnerability of men requiring catheterization, both from a physical and psychological point of view. Making the effort to explain the procedure, listen to questions and concerns and record relevant details in the notes, will take only a few extra moments. There is no doubt that urinary catheterization is not without complications. It is associated with significant morbidity and occasionally, mortality.
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Affiliation(s)
- L Hadfield-Law
- ATNC Committee, Baileys Consulting, Charlbury, Oxfordshire, UK.
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Abstract
Urinary catheterization is a common procedure for both hospital and community patients. Nurses make many of the decisions in regard to both catheter selection and subsequent catheter care. These decisions, for example, in the type of catheterization (intermittent, indwelling, urethral or suprapubic) should be made on an informed basis. Choosing the optimum catheter material and size can benefit catheter care. Encrustation can be a problem for some catheterized patients and nurses are often involved in trying to prevent or treat it. This and other aspects of catheter management including infection control, constipation and meatal hygiene are discussed.
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Affiliation(s)
- I Pomfret
- Chorley and South Ribble NHS Trust, Primary Care Services, Preston Road, Chorley, Lancashire
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