Abstract. Current additive manufacturing allows for the implementation of electrically interrogated 3-D printed sensors. In this contribution various technologies, sensing principles and applications are discussed. We will give both an overview of some of the sensors presented in literature as well as some of our own recent work on 3-D printed sensors. The 3-D printing methods discussed include fused deposition modelling (FDM), using multi-material printing and poly-jetting. Materials discussed are mainly thermoplastics and include thermoplastic polyurethane (TPU), both un-doped as well as doped with carbon black, polylactic acid (PLA) and conductive inks. The sensors discussed are based on biopotential sensing, capacitive sensing and resistive sensing with applications in surface electromyography (sEMG) and mechanical and tactile sensing. As these sensors are based on plastics they are in general flexible and therefore open new possibilities for sensing in soft structures, e.g. as used in soft robotics. At the same time they show many of the characteristics of plastics like hysteresis, drift and non-linearity. We will argue that 3-D printing of embedded sensors opens up exciting new possibilities but also that these sensors require us to rethink how to exploit non-ideal sensors.

Mixing fluid samples or reactants is a paramount function in the fields of micro total analysis system (lTAS) and microchemical processing. However, rapid and efficient fluid mixing is difficult to achieve inside microchannels because of the difficulty of diffusive mass transfer in the laminar regime of the typical microfluidic flows. It has been well recorded that the mixing efficiency can be boosted by migrating from two-dimensional (2D) to three-dimensional (3D) geometries. Although several 3D chaotic mixers have been designed, most of them offer a high mixing efficiency only in a very limited range of Reynolds numbers (Re). In this work, we developed a 3D fine-threaded lemniscate-shaped micromixer whose maximum numerical and empirical efficiency is around 97% and 93%, respectively, and maintains its high performance (i.e., >90%) over a wide range of 1 < Re < 1000 which meets the requirements of both the lTAS and microchemical process applications. The 3D micromixer was designed based on two distinct mixing strategies, namely, the inducing of chaotic advection by the presence of Dean flow and diffusive mixing through thread-like grooves around the curved body of the mixers. First, a set of numerical simulations was performed to study the physics of the flow and to determine the essential geometrical parameters of the mixers. Second, a simple and cost-effective method was exploited to fabricate the convoluted structure of the micromixers through the removal of a 3D-printed wax structure from a block of cured polydimethylsiloxane. Finally, the fabricated mixers with different threads were tested using a fluorescent microscope demonstrating a good agreement with the results of the numerical simulation. We envisage that the strategy used in this work would expand the scope of the micromixer technology by broadening the range of efficient working flow rate and providing an easy way to the fabrication of 3D convoluted microstructures. Published by AIP Publishing.

Purpose The biopsy procedure is an important phase in breast cancer diagnosis. Accurate breast imaging and precise needle placement are crucial in lesion targeting. This paper presents an end-effector (EE) for robotic 3D ultrasound (US) breast acquisitions and US-guided breast biopsies. The EE mechanically guides the needle to a specified target within the US plane. The needle is controlled in all degrees of freedom (DOFs) except for the direction of insertion, which is controlled by the radiologist. It determines the correct needle depth and stops the needle accordingly. Method In the envisioned procedure, a robotic arm performs localization of the breast, 3D US volume acquisition and reconstruction, target identification and needle guidance. Therefore, the EE is equipped with a stereo camera setup, a picobeamer, US probe holder, a three-DOF needle guide and a needle stop. The design was realized by prototyping techniques. Experiments were performed to determine needle placement accuracy in-air. The EE was placed on a seven-DOF robotic manipulator to determine the biopsy accuracy on a cuboid phantom. Results Needle placement accuracy was 0.3 ± 1.5 mm in and 0.1 ± 0.36 mm out of the US plane. Needle depth was regulated with an accuracy of 100 µm (maximum error 0.89 mm). The maximum holding force of the stop was approximately 6 N. The system reached a Euclidean distance error of 3.21 mm between the needle tip and the target and a normal distance of 3.03 mm between the needle trajectory and the target. Conclusion An all in one solution was presented which, attached to a robotic arm, assists the radiologist in breast cancer imaging and biopsy. It has a high needle placement accuracy, yet the radiologist is in control like in the conventional procedure.

Current challenges in automated robotic breast ultrasound (US) acquisitions include keeping acoustic coupling between the breast and the US probe, minimizing tissue deformations and safety. In this paper, we present how an autonomous 3D breast US acquisition can be performed utilizing a 7DOF robot equipped with a linear US transducer. Robotic 3D breast US acquisitions would increase the diagnostic value of the modality since they allow patient specific scans and have a high reproducibility, accuracy and efficiency. Additionally, 3D US acquisitions allow more flexibility in examining the breast and simplify registration with preoperative images like MRI. To overcome the current challenges, the robot follows a referencebased trajectory adjusted by a visual servoing algorithm. The reference trajectory is a patient specific trajectory coming from e.g. an MRI. The visual servoing algorithm commands in-plane rotations and corrects the probe contact based on confidence maps. A safety aware, intrinsically passive framework is utilised to actuate the robot. The approach is illustrated with experiments on a phantom, which show that the robot only needs minor pre-procedural information to consistently image the phantom while relying mainly on US feedback.

Purpose of the review Robotics is a rapidly advancing field, and its introduction in healthcare can have a multitude of benefits for clinical practice. Especially, applications depending on the radiologist’s accuracy and precision, such as percutaneous interventions, may profit. This paper provides an overview of recent robot-assisted percutaneous solutions. Recent findings Percutaneous interventions are relatively simple and the quality of the procedure increases a lot by introducing robotics due to the improved accuracy and precision. The success of the procedure is heavily dependent on the ability to merge pre- and intraoperative images, as an accurate estimation of the current target location allows to exploit the robot’s capabilities. Summary Despite much research, the application of robotics in some branches of healthcare is not commonplace yet. Recent advances in percutaneous robotic solutions and imaging are highlighted, as they will pave the way to more widespread implementation of robotics in clinical practice.