Fast‐Response Variable‐Stiffness Magnetic Catheters for Minimally Invasive Surgery

Piskarev, Yegor; Sun, Yi; Righi, Matteo; Boehler, Quentin; Chautems, Christophe; Fischer, Cedric; Nelson, Bradley J.; Shintake, Jun; Floreano, Dario

doi:10.1002/advs.202305537

Cited by 12 publications

(3 citation statements)

References 58 publications

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“…Since commercially available rods with a diameter of less than 1 mm are accessible, we presume that a submillimeter fiber pump can also be fabricated. Furthermore, the wall thickness of the fiber can be adjusted by changing the number of dips, as demonstrated in other studies involving catheters 20 , 21 .…”

Section: Resultsmentioning

confidence: 99%

“…Finally, connectors are jointed and pumps are obtained with length of 100 mm, inner diameter of 4 mm, and outer diameter of 6 mm (mass 5.3 g without the connectors). The core of this fabrication process is dipping that is also applied in other fibrous form such as catheters 20 , 21 . Given the simplicity of the fabrication process it has scalability and allow the use of not only silicone elastomers but also other polymeric materials.…”

Section: Resultsmentioning

confidence: 99%

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Silicone-based highly stretchable multifunctional fiber pumps

Kanno,

Shimizu,

Murakami

et al. 2024

Sci Rep

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Recent advancements on electrohydrodynamic (EHD) soft pumps demonstrate their applicability to various fluid-driven systems such as soft robots, wearable devices, and stretchable electronics. In particular, fiber type EHD pumps reported more recently is a promising pumping element thanks to their versatile fibrous structure. Yet existing EHD fiber pumps are less stretchable and require sophisticated, complex fabrication equipment, implying opportunity for technology advancement. This paper presents a simplified method to create highly stretchable multifunctional fiber EHD pumps. The method employs highly compliant silicone elastomers for the fiber structure that is formed by simple dipping fabrication process. The fabricated pumps (length of 100 mm, inner diameter 4 mm, and mass 5.3 g) exhibit a high stretchability (up to 40% strain) and flow rate and pressure of 167.4 ± 7.6 mL/min (31.6 mL/min/g) and 4.1 ± 0.6 kPa (0.8 kPa/g), respectively. These performances are comparable or even higher than those of previously reported EHD pumps including fiber types. The output performance of the fabricated pumps remain constant for repeated strain cycles (0–25%, up to 2000 cycles) and bending angle up to 180° (corresponding to curvature of 0–30/m). Moreover, the pumps demonstrate unprecedented functionality as a sensor to distinguish the type of fluid inside the tube and to detect strains by reading the capacitance between the electrodes. The characterization result reveals the sensing ability of the pumps as high repeatability up to 30% strain with negligible hysteresis, which is consistent for 5000 cycles.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Silicone-based highly stretchable multifunctional fiber pumps

Kanno,

Shimizu,

Murakami

et al. 2024

Sci Rep

Self Cite

View full text Add to dashboard Cite

show abstract

“…Kim, Y. et al [13,14] presented a magnetically driven submillimeter linear continuum robot made of ferromagnetic soft material. However, the manipulation of this magnetic robot requires not only expensive equipment to provide the required magnetic field, but also other ancillary equipment, such as robotic arms, all of which hinder its widespread use [15,16].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Experimental Validation of an Active Microcatheter Driven by Shape Memory Effects

Li,

Zhang,

Ren

et al. 2024

Micromachines

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Microcatheters capable of active guidance have been proven to be effective and efficient solutions to interventional surgeries for cardiovascular and cerebrovascular diseases. Herein, a novel microcatheter made of two biocompatible materials, shape memory alloy (SMA) and polyethylene (PE), is proposed. It consists of a reconfigurable distal actuator and a separate polyethylene catheter. The distal actuator is created via embedding U-shape SMA wires into the PE base, and its reconfigurability is mainly dominated by the shape memory effect (SME) of SMA wires, as well as the effect of thermal mismatch between the SMA and PE base. A mathematical model was established to predict the distal actuator’s deformation, and the analytical solutions show great agreement with the finite element results. Structural optimization of such microcatheters was carried out using the verified analytical model, followed by fabrication of some typical prototypes. Experimental testing of their mechanical behaviors demonstrates the feasibility of the structural designs, and the reliability and accuracy of the mathematical model. The active microcatheter, together with the prediction model, will lay a solid foundation for rapid development and optimization of active navigation strategies for vascular interventions.

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A Cooperative and Multifunctional Magnetic Continuum Robot for Noninteractive Access, Dexterous Navigation, and Versatile Manipulation

Yang,

Mao,

Tian

et al. 2024

Adv Funct Materials

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Soft continuum robots can navigate through narrow and tortuous lumina. However, its interactions with the lumina during steering pose a risk of luminal injuries, especially if it integrates multifunctional units, which increase both the robot's size and local stiffness. Therefore, a continuum robot comprising coaxially assembled Guider and Follower components is designed that utilize phase change materials for noninteractive navigation and versatile manipulation. Navigation occurs through alternating softening‐hardening cycles: First, the Guider softens and advances under magnetic steering while the rigid Follower provides support. Then, the Guider solidifies to form a new backbone as the Follower softens to replicate its path. This process maintains structural integrity while enabling navigation along desired trajectories, thereby greatly reducing interactions with the lumen. To further accomplish complex tasks in large and open spaces, a continuum robot system with a triple‐individual Guider is developed in which the multi‐degree‐of‐freedom movement of the individuals is precisely and sequentially controlled through segmented stiffness regulation. This configuration achieves versatile manipulation, including targeted delivery, precision coating, grasping, and obstacle clearing in complex environments. Combining cooperative movement and diverse functionalities, this continuum robot design offers a new approach to dexterous navigation and intervention in minimally invasive surgical procedures.

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Fast‐Response Variable‐Stiffness Magnetic Catheters for Minimally Invasive Surgery

Cited by 12 publications

References 58 publications

Silicone-based highly stretchable multifunctional fiber pumps

Silicone-based highly stretchable multifunctional fiber pumps

Design, Modeling, and Experimental Validation of an Active Microcatheter Driven by Shape Memory Effects

A Cooperative and Multifunctional Magnetic Continuum Robot for Noninteractive Access, Dexterous Navigation, and Versatile Manipulation

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