Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results

Bruns, Trevor L.; Riojas, Katherine E.; Ropella, Dominick S.; Cavilla, Matt S.; Petruska, Andrew J.; Freeman, M.H.; Labadie, Robert F.; Abbott, Jake J.; Webster, Robert J.

doi:10.1109/lra.2020.2970978

Cited by 42 publications

(39 citation statements)

References 41 publications

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“…The robotic platform has been demonstrated to effectively control and navigate several untethered magnetic devices, e.g., threaded capsule endoscopes and helical microrobots, to operate in natural lumen pathways of the bodies, such as GI, ENT, nervous, and vascular systems. [ 296–300 ]…”

Section: Biomedical Magnetic‐driven Robotsmentioning

confidence: 99%

Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

193

104

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In recent years, magnetism has gained an enormous amount of interest among researchers for actuating different sizes and types of bio/soft robots, which can be via an electromagnetic‐coil system, or a system of moving permanent magnets. Different actuation strategies are used in robots with magnetic actuation having a number of advantages in possible realization of microscale robots such as bioinspired microrobots, tetherless microrobots, cellular microrobots, or even normal size soft robots such as electromagnetic soft robots and medical robots. This review provides a summary of recent research in magnetically actuated bio/soft robots, discussing fabrication processes and actuation methods together with relevant applications in biomedical area and discusses future prospects of this way of actuation for possible improvements in performance of different types of bio/soft robots.

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Section: Biomedical Magnetic‐driven Robotsmentioning

confidence: 99%

Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

193

104

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show abstract

“…The size of the magnet driving the EA in cochlear implant surgeries may be adjusted based on the magnitude of the external electromagnetic field [2]. The force applied on the magnet to steer it through cochlear turns is a function of the strength of the electromagnetic field and the surface area of the magnet.…”

Section: Impact Of Magnet Sizementioning

confidence: 99%

“…The force applied on the magnet to steer it through cochlear turns is a function of the strength of the electromagnetic field and the surface area of the magnet. For instance, to provide a fixed force, a larger magnet with larger surface area requires a smaller magnetic field [2], which mitigates overheating of the device that generates the electromagnetic field [38]. The maximum safe input power density is lower for a larger magnet (see Figures 10 and 11).…”

Section: Impact Of Magnet Sizementioning

confidence: 99%

“…Magnet size is described in Figure 10 by its characteristic length, defined as the ratio of the magnet volume to its surface area L c = Vmagnet Amagnet . In this paper, four magnet sizes are considered based on reported sizes used in magnetic insertion of cochlear implant EAs [2,39,3,40]. All magnets are assumed to be cylindrical.…”

Section: Impact Of Magnet Sizementioning

confidence: 99%

“…Magnetic cochlear implant surgery is a promising procedure to reduce potential physical trauma associated with manual insertion of cochlear implants [1,2]. Magnetic guidance of cochlear implants decreases the insertion force by 50% [1,3].…”

Section: Introductionmentioning

confidence: 99%

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A three-dimensional thermal model of the human cochlea for magnetic cochlear implant surgery

Esmailie,

Francoeur,

Ameel

2020

Preprint

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In traditional cochlear implant surgery, physical trauma may occur during electrode array insertion. Magnetic guidance of the electrode array has been proposed to mitigate this medical complication. After insertion, the guiding magnet attached to the tip of the electrode array must be detached via a heating process and removed. This heating process may, however, cause thermal trauma within the cochlea. In this study, a validated three-dimensional finite element heat transfer model of the human cochlea is applied to perform an intracochlear thermal analysis necessary to ensure the safety of the magnet removal phase. Specifically, the maximum safe input power density to detach the magnet is determined as a function of the boundary conditions, heating duration, cochlea size, implant electrode array radius and insertion depth, magnet size, and cochlear fluid. A dimensional analysis and numerical simulations reveal that the maximum safe input power density increases with increasing cochlea size and the radius of the electrode array, whereas it decreases with increasing electrode array insertion depth and magnet size. The best cochlear fluids from the thermal perspective are perilymph and a soap solution. Even for the worst case scenario in which the cochlear walls are assumed to be adiabatic except at the round window, the maximum safe input power density is larger than that required to melt 1 mm 3 of paraffin bonding the magnet to the implant electrode array. By combining the outcome of this work with other aspects of the design of the magnetic insertion process, namely the magnetic guidance procedure and medical requirements, it will

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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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Magnetically Steered Robotic Insertion of Cochlear-Implant Electrode Arrays: System Integration and First-In-Cadaver Results

Cited by 42 publications

References 41 publications

Magnetic Actuation Methods in Bio/Soft Robotics

Magnetic Actuation Methods in Bio/Soft Robotics

A three-dimensional thermal model of the human cochlea for magnetic cochlear implant surgery

Magnetically Actuated Continuum Medical Robots: A Review

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