A hydrogel-based intravascular microgripper manipulated using magnetic fields

Abstract

This work presents a magnetic hydrogel-based microgripper which can be wirelessly manipulated by using magnetic fields. The proposed device made of biocompatible hydrogel material can be employed for the intravascular applications. The actuation mechanism for gripping motions was realized by controlling the exposure doses on the hydrogel composite in lithography process. We also successfully demonstrated the device manipulations in a PVC tube and a PDMS microfluidic channel, such as gripping motion, translational motion, and rotational motion. KEYWORDSMicrogripper, magnetic nanoparticle, intravascular device, hydrogel.

Untethered microgripper-the dexterous hand at microscale

“…3c). With four symmetric arms, solid pick-andplace of object was demonstrated to be more reliable than the microgripper proposed by Kuo et al (Kuo et al 2014). Additionally, fast repeatable grasping action could be conducted within 25 ms for the all actions in water at room temperature with these microgrippers with the pure magnetic-actuation mechanism.…”

“…3a). In addition, Kuo et al proposed a biocompatible hydrogel-based microgripper for intravascular applications actuated by magnetic field with a different mechanism (Kuo et al 2014). The free movement of this microgripper in liquids was achieved through direct current and the gripping motion was actuated by the heat generated by the alternating current magnetic fields (Fig.…”

Robótica quirúrgica, desde los grandes asistentes hasta la nanotecnología

“…Al respecto se han venido desarrollando y se han propuesto múltiples tipos de mini robots magnéticos, que pretenden ser una solución a problemas como la falta de espacio en el área abdominal al realizar los procedimientos quirúrgicos [40], y la generalización de cirugías abdominales por una sola entrada o por orificios naturales. Dependiendo del tipo de procedimiento que asistan, estos mini robots magnéticos pueden ser tipo cámara [41][42], pinza [43], fuente de iluminación [42] o dispositivos para realizar biopsias [37]. Sus diseños se han basado en la tecnología de anclaje magnético [44], la cual ha permitido el diseño de instrumentos que pueden ser manipulados con magnetos externos al cuerpo sin generar daño a los tejidos del paciente [38], y además su utilización ha generado varias ventajas frente a procedimientos convencionales como la laparoscopia [45].…”

Photocurable Polymer Nanocomposites for Magnetic, Optical, and Biological Applications

“…They fabricated 3-D microturbine-like structure with a photocurable magnetic nanocomposite by TPP, and demonstrated the remote rotation of this micro-turbine controlled by external magnetic field [42]. [39], [41], [43], [49], [57], and [59].) Magnetic cantilevers have also been widely studied [43]- [46].…”

“…Kuo and colleagues have investigated a microgripper composite structure that uses a combination of three functions mentioned: magnetic attraction, rotation, and vibration [59]. The proposed microgripper contains a magnetic chain, and can therefore translate, rotate, and bend in a gripping motion, depending on the external magnetic fields generated around it.…”