Locomotion of Sensor‐Integrated Soft Robotic Devices Inside Sub‐Millimeter Arteries with Impaired Flow Conditions

Pancaldi, Lucio; Noseda, Lorenzo; Dolev, Amit; Fanelli, Adele; Ghezzi, Diego; Petruska, Andrew J.; Sakar, Mahmut Selman

doi:10.1002/aisy.202100247

Cited by 16 publications

(12 citation statements)

References 51 publications

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“…Later, the same group proposed another robot by modifying the magnetic tip with an undulating magnetic head (Figure 13e). [ 177 ] The static magnetic field was used to position the head inside the obstructed channels during flow‐driven navigation in perfusing channels; the rotating magnetic field was adopted for crawling locomotion to realize motion and steering in the absence of flow. The robot was further demonstrated inside the coronary arteries of an ex vivo porcine heart under X‐ray guidance.…”

Section: Magnetic Continuum Robotmentioning

confidence: 99%

Section: Magnetic Continuum Robotmentioning

confidence: 99%

mentioning

confidence: 99%

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Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

Advanced Intelligent Systems

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The magnetic field has unique advantages in manipulating miniature robots working inside the human body, such as high transparency to biological tissue and good controllability for field generation. Generally, the actuated magnetic robot can be classified into two categories: tethered devices like intravascular microcatheters and untethered devices like helical swimmers. Among these, the tethered devices have a long history and good clinical application prospects, considering their high‐dose delivery and easy removal after the procedure. As an evolution of traditional continuum medical devices, the integration with magnetic actuation provides them with better scalability and improved dexterity. Although rapidly developed in the last two decades, the field of tethered magnetic robots requires further advancements in terms of design, fabrication, modeling, and control, especially for clinical applications. Herein, the recent progress of magnetically actuated continuum medical robots is focused on, intending to offer readers a comprehensive survey of the state‐of‐the‐art technologies and an information collection for future system design.

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Section: Magnetic Continuum Robotmentioning

confidence: 99%

Section: Magnetic Continuum Robotmentioning

confidence: 99%

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Magnetically Actuated Continuum Medical Robots: A Review

Yang

Cao

et al. 2023

Advanced Intelligent Systems

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“…Soft continuum robots are an important avenue in overcoming the limitations of traditional steerable microcatheters for endoluminal interventions [1] [2]. Magnetically actuated continuum robots (MCRs) offer huge miniaturization potential and the prospect of safe navigation through small, sensitive and tortuous pathways [3] [4] [5]. Tip driven MCRs are established in the literature [6] [7] but are unable to actively shape form i.e.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Soft Continuum Robots With Braided Reinforcement

Lloyd

Onaizah

Pittiglio

et al. 2022

IEEE Robot. Autom. Lett.

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Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases a lack of dexterity and miniaturization along with excessive stiffness results in large regions of the anatomy being deemed inaccessible. Soft continuum robots have the potential to mitigate these issues. Due to its enormous potential for miniaturization, magnetic actuation is of particular interest in this field. Currently, flexible magnetic catheters often rely on interactive forces to generate large deformations during navigation and for soft anatomical structures this could be considered potentially damaging. In this study we demonstrate the insertion of a high aspect ratio, 50 mm long by 2 mm diameter, soft magnetic catheter capable of navigating up to a 180 • bend without the aid of forces of anatomical interaction. This magnetic catheter is reinforced with a lengthwise braided structure and its magnetization allows it to shape form along tortuous paths. We demonstrate our innovation in a planar silicone pancreas phantom. We also compare our approach with a mechanically equivalent tip driven magnetic catheter and with an identically magnetized, unreinforced catheter.

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“…[56,57] Also, recent developments in navigation strategies for small endovascular devices might enable reaching various brain targets. [58,59] While invasiveness is significantly reduced, stentrodes suffer lower spatial resolution due to the inevitable distance to the target tissue. Also, cables are wired out via a transvascular exit to the implantable electronic unit, thus being a potential source of complications.…”

mentioning

confidence: 99%

Engineering Materials for Neurotechnology

Ghezzi

2023

Adv Eng Mater

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A crucial issue for a neural interface is the chronic foreign body reaction (FBR) upon implantation. [1][2][3] Avoiding the FBR, or at least reducing its severity, is necessary to preserve the long-term functioning of neural interfaces. [4][5][6] Yet, this is still an open research question. The FBR is traditionally described as a passive barrier encapsulating the device, altering the neural interface, and impairing implant-to-cell communication. [2,7,8] Besides acting as a passive insulating barrier, soluble factors released during the inflammatory and fibrotic process can accelerate device degradation and electrode corrosion. [9] The FBR is inevitable whenever any material becomes in contact with body fluids. [10] In contrast, materials engineering and advanced fabrication processes can minimize its severity, for example, by improving the mechanical compliance of the implant, decreasing the device size, and reducing implantation and chronic trauma. [3] One of the most common limitations of neural interfaces is the mechanical mismatch between the stiff neural implant and the soft neural tissue. This mismatch intensifies the neural damage and FBR caused by insertion, compression, and motion. [11] The neural tissue is curved, soft, dynamic, and subject to deformations caused, for example, by blood pulsation, respiratory pressure, and natural body movements. [11,12] By contrast, most neural interfaces are static and struggle to conform to neural tissue in static and dynamic conditions. A large body of research in neural interfaces addresses this issue using flexible, conformable, or stretchable neural interfaces (Figure 1).Polyimide (PI), parylene-C, and SU-8 are widely used materials in flexible neural interfaces. [13][14][15][16][17][18][19][20][21][22] The advantages of these materials are their biochemical and thermal stability, and their compatibility with clean-room microfabrication processes. [23][24][25] However, they exhibit high Young's modulus (GPa range) and limited elastic deformation (<3%). [26] Ultra-thin neural interfaces made of these materials still reach low bending stiffness if sufficiently thin (<15 μm) despite the high Young's modulus. [27] They can conform to a cylindrical body such as a nerve or a smooth brain surface (Figure 1a), thus reducing the FBR severity. [23] Moreover, ultra-thin neural interfaces with a small cross-sectional area also can minimize tissue damage during penetration (Figure 1b). [22,24,28] Conformability to cylindrical or smooth surfaces is sufficient in rodents, but more is needed for large and complex surfaces with gyri, like in primates, where spherical conformability is required. Because of the limited elastic deformation, conformability to convoluted surfaces is difficult to achieve with these materials. Compliance with neural macro-and micro-movements is also reduced. [26] Elastomers exhibit a lower Young's modulus of at least three orders of magnitude (MPa range) and a much broader elastic regime under strain (>20%). Bending stiffness is influenced by both thick...

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Locomotion of Sensor‐Integrated Soft Robotic Devices Inside Sub‐Millimeter Arteries with Impaired Flow Conditions

Cited by 16 publications

References 51 publications

Magnetically Actuated Continuum Medical Robots: A Review

Magnetically Actuated Continuum Medical Robots: A Review

Magnetic Soft Continuum Robots With Braided Reinforcement

Engineering Materials for Neurotechnology

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