Micro/nanoscale magnetic robots for biomedical applications

Magnetic small-scale robots are devices of great potential for the biomedical field because of the several benefits of this method of actuation. Recent work on the development of these devices has seen tremendous innovation and refinement toward ​improved performance for potential clinical applications. This review briefly details recent advancements in small-scale robots used for biomedical applications, covering their design, fabrication, applications, and demonstration of ability, and identifies the gap in studies and the difficulties that have persisted in the optimization of the use of these devices. In addition, alternative biomedical applications are also suggested for some of the technologies that show potential for other functions. This study concludes that although the field of small-scale robot research is highly innovative ​there is need for more concerted efforts to improve functionality and reliability of these devices particularly in clinical applications. Finally, further suggestions are made toward ​the achievement of commercialization for these devices

Light‐Powered Microrobots: Challenges and Opportunities for Hard and Soft Responsive Microswimmers

Worldwide research in microrobotics has exploded in the past two decades, leading to the development of microrobots propelled in various manners. Despite significant advances in the field and successful demonstration of a wide range of applications, microrobots have yet to become the preferred choice outside a laboratory environment. After introducing available microrobotic propulsion and control mechanisms, microrobots that are manufactured and powered by light are focused herein. Referring to pioneering works and recent interesting examples, light is presented not only as a fabrication tool, by means of twophoton polymerization direct laser writing, but also as an actuator for microrobots in both hard and soft stimuli–responsive polymers. In this scenario, a number of challenges that yet prevent polymeric light-powered microrobots from reaching their full potential are identified, whereas potential solutions to overcome said challenges are suggested. As an outlook, a number of real-world applications that light-powered microrobots should be particularly suited for are mentioned, together with the advances needed for them to achieve such purposes. An interdisciplinary approach combining materials science, microfabrication, photonics, and data science should be conducive to the next generation of microrobots and will ultimately foster the translation of microrobotic applications into the real world

Ultra-High Field Strength MR Image-Guided Robotic Needle Delivery Device for In-Bore Small Animal Interventions

Current methods of accurate soft tissue injections in small animals are prone to many sources of error. Although efforts have been made to improve the accuracy of needle deliveries, none of the efforts have provided accurate soft tissue references. An MR image-guided robot was designed to function inside the bore of a 9.4T MR scanner to accurately deliver needles to locations within the mouse brain. The robot was designed to have no noticeable negative effects on the image quality and was localized in the MR images through the use of an MR image visible fiducial. The robot was mechanically calibrated and subsequently validated in an image-guided phantom experiment, where the mean needle targeting accuracy and needle trajectory accuracy were calculated to be 178 ± 54µm and 0.27 ± 0.65º, respectively. Finally, the device successfully demonstrated an image-guided needle targeting procedure in situ

OPTICAL NAVIGATION TECHNIQUES FOR MINIMALLY INVASIVE ROBOTIC SURGERIES

Minimally invasive surgery (MIS) involves small incisions in a patient's body, leading to reduced medical risk and shorter hospital stays compared to open surgeries. For these reasons, MIS has experienced increased demand across different types of surgery. MIS sometimes utilizes robotic instruments to complement human surgical manipulation to achieve higher precision than can be obtained with traditional surgeries. Modern surgical robots perform within a master-slave paradigm, in which a robotic slave replicates the control gestures emanating from a master tool manipulated by a human surgeon. Presently, certain human errors due to hand tremors or unintended acts are moderately compensated at the tool manipulation console. However, errors due to robotic vision and display to the surgeon are not equivalently addressed. Current vision capabilities within the master-slave robotic paradigm are supported by perceptual vision through a limited binocular view, which considerably impacts the hand-eye coordination of the surgeon and provides no quantitative geometric localization for robot targeting. These limitations lead to unexpected surgical outcomes, and longer operating times compared to open surgery. To improve vision capabilities within an endoscopic setting, we designed and built several image guided robotic systems, which obtained sub-millimeter accuracy. With this improved accuracy, we developed a corresponding surgical planning method for robotic automation. As a demonstration, we prototyped an autonomous electro-surgical robot that employed quantitative 3D structural reconstruction with near infrared registering and tissue classification methods to localize optimal targeting and suturing points for minimally invasive surgery. Results from validation of the cooperative control and registration between the vision system in a series of in vivo and in vitro experiments are presented and the potential enhancement to autonomous robotic minimally invasive surgery by utilizing our technique will be discussed

Nanoprobes for Tumor Theranostics

This book reports cutting-edge technology in nanoprobes or nanobiomaterials used for the accurate diagnosis and therapy of tumors, involving a multidisciplinary of chemistry, materials science, oncology, biology, and medicine

Control of Magnetic Continuum Robots for Endoscopy

The present thesis discusses the problem of magnetic actuation and control applied to millimetre-scale robots for endoluminal procedures. Magnetic actuation, given its remote manipulation capabilities, has the potential to overcome several limitations of current endoluminal procedures, such as the relatively large size, high sti�ness and limited dexterity of existing tools. The application of functional forces remotely facilitates the development of softer and more dexterous endoscopes, which can navigate with reduced discomfort for the patient. However, the solutions presented in literature are not always able to guarantee smooth navigation in complex and convoluted anatomical structures. This thesis aims at improving the navigational capabilities of magnetic endoluminal robots, towards achieving full autonomy. This is realized by introducing novel design, sensing and control approaches for magnetically actuated soft endoscopes and catheters. First, the application of accurate closed-loop control to a 1 Internal Permanent Magnet (IPM) endoscope was analysed. The proposed approach can guarantee better navigation capabilities, thanks to the manipulation of every mechanical Degree of Freedom (DOF) - 5 DOFs. Speci�cally, it was demonstrated that gravity can be balanced with su�cient accuracy to guarantee tip levitation. In this way contact is minimized and obstacle avoidance improved. Consequently, the overall navigation capabilities of the endoscope were enhanced for given application. To improve exploration of convoluted anatomical pathways, the design of magnetic endoscopes with multiple magnetic elements along their length was introduced. This approach to endoluminal device design can ideally allow manipulation along the full length; facilitating full shape manipulation, as compared to tip-only control. To facilitate the control of multiple magneto-mechanical DOFs along the catheters' length, a magnetic actuation method was developed based on the collaborative robotic manipulation of 2 External Permanent Magnets (EPMs). This method, compared to the state-of-the-art, facilitates large workspace and applied �eld, while guaranteeing dexterous actuation. Using this approach, it was demonstrated that it is possible to actuate up to 8 independent magnetic DOFs. In the present thesis, two di�erent applications are discussed and evaluated, namely: colonoscopy and navigational bronchoscopy. In the former, a single-IPM endoscopic approach is utilized. In this case, the anatomy is large enough to permit equipping the endoscope with a camera; allowing navigation by direct vision. Navigational bronchoscopy, on-the-other-hand, is performed in very narrow peripheral lumina, and navigation is informed via pre-operative imaging. The presented work demonstrates how the design of the magnetic catheters, informed by a pre-operative Computed Tomography (CT) scan, can mitigate the need for intra-operative imaging and, consequently, reduce radiation exposure for patients and healthcare workers. Speci�cally, an optimization routine to design the catheters is presented, with the aim of achieving follow-the-leader navigation without supervision. In both scenarios, analysis of how magnetic endoluminal devices can improve the current practice and revolutionize the future of medical diagnostics and treatment is presented and discussed

Professional English for biomedical engineering students

Навчальний посібник забезпечує аудиторну та самостійну роботу студентів третього курсу факультету біомедичної інженерії. Видання складається з восьми розділів (Units), які охоплюють професійно орієнтовані теми (Topics): “Introduction to biomedical engineering”, “Robotics in biomedical and healthcare engineering”, “Tissue engineering”, “Medical Imaging”, “Nanotechnology in biomedical engineering”, “Rehabilitation engineering”, “Biomaterials”, “Genetic engineering”. Розроблені вправи спрямовані на забезпечення знань, розвиток і удосконалення навичок і вмінь у читанні, говорнні, аудіюванні, письмі та перекладі, а також покращення лексичних та граматичних знань, навичок і умінь студентів. Завданням посібника є сприяння розширенню професійного тезаурусу студентів та підвищення мотивації студентів до автономного навчання