Mobility Experiments With Microrobots for Minimally Invasive Intraocular Surgery

Purpose.: To investigate microrobots as an assistive tool for minimally invasive intraocular surgery and to demonstrate mobility and controllability inside the living rabbit eye. / Methods.: A system for wireless magnetic control of untethered microrobots was developed. Mobility and controllability of a microrobot are examined in different media, specifically vitreous, balanced salt solution (BSS), and silicone oil. This is demonstrated through ex vivo and in vivo animal experiments. / Results.: The developed electromagnetic system enables precise control of magnetic microrobots over a workspace that covers the posterior eye segment. The system allows for rotation and translation of the microrobot in different media (vitreous, BSS, silicone oil) inside the eye. / Conclusions.: Intravitreal introduction of untethered mobile microrobots can enable sutureless and precise ophthalmic procedures. Ex vivo and in vivo experiments demonstrate that microrobots can be manipulated inside the eye. Potential applications are targeted drug delivery for maculopathies such as AMD, intravenous deployment of anticoagulation agents for retinal vein occlusion (RVO), and mechanical applications, such as manipulation of epiretinal membrane peeling (ERM). The technology has the potential to reduce the invasiveness of ophthalmic surgery and assist in the treatment of a variety of ophthalmic diseases

Hard-magnetic cell microscaffolds from electroless coated 3D printed architectures

We report the application of 3D printing and wet metallization to the fabrication of magnetically driven microscaffolds for cell delivery

Single step electrosynthesis of NiMnGa alloys

An electrochemical synthesis route for NiMnGa alloys is presented. Thin films of NiMnGa were fabricated by single step electrodeposition from aqueous electrolytes using direct current over a range of current densities. By electrolyte tuning, homogeneous films with high Ga and Mn content could be achieved at current densities as high as -400 mA cm-2. Detailed compositional analysis of the alloys showed that growth was homogeneous and oxygen content was minimized. Films plated at very low current densities were found to be nanocrystalline/amorphous. In order to obtain fully crystalline samples, thermal annealing was carried out. Mechanical characterization was assessed by nanoindentation, and the effect of Ga content on mechanical properties was investigated

Real-Time Gait Phase Detection on Wearable Devices for Real-World Free-Living Gait

Detecting gait phases with wearables unobtrusively and reliably in real-time is important for clinical gait rehabilitation and early diagnosis of neurological diseases. Due to hardware limitations of microcontrollers in wearable devices (e.g., memory and computation power), reliable real-time gait phase detection on the microcontrollers remains a challenge, especially for long-term real-world free-living gait. In this work, a novel algorithm based on a reduced support vector machine (RSVM) and a finite state machine (FSM) is developed to address this. The RSVM is developed by exploiting the cascaded K-means clustering to reduce the model size and computation time of a standard SVM by 88% and a factor of 36, with only minor degradation in gait phase prediction accuracy of around 4%. For each gait phase prediction from the RSVM, the FSM is designed to validate the prediction and correct misclassifications. The developed algorithm is implemented on a microcontroller of a wearable device and its real-time (on the fly) classification performance is evaluated by twenty healthy subjects walking along a predefined real-world route with uncontrolled free-living gait. It shows a promising real-time performance with an accuracy of 91.51%, a sensitivity of 91.70%, and a specificity of 95.77%. The algorithm also demonstrates its robustness with varying walking conditions

A Flexible PVDF-based Platform Combining Acoustofluidics and Electromagnetic Metamaterials

Acoustofluidic devices have been demonstrated effectively for liquid manipulation functionalities. Likewise, electromagnetic metamaterials have been employed as highly sensitive and wireless sensors. In this work, we introduced a new design combining the concepts of acoustofluidics and electromagnetic metamaterials on a single device realised on a flexible PVDF substrate. We characterise the operation of the device at acoustic and microwave frequencies. The device can be used in wearable biosensors with integrated liquid sampling and continuous wireless sensing capabilities

An Intelligent In-Shoe System for Gait Monitoring and Analysis with Optimized Sampling and Real-Time Visualization Capabilities

The deterioration of gait can be used as a biomarker for ageing and neurological diseases. Continuous gait monitoring and analysis are essential for early deficit detection and personalized rehabilitation. The use of mobile and wearable inertial sensor systems for gait monitoring and analysis have been well explored with promising results in the literature. However, most of these studies focus on technologies for the assessment of gait characteristics, few of them have considered the data acquisition bandwidth of the sensing system. Inadequate sampling frequency will sacrifice signal fidelity, thus leading to an inaccurate estimation especially for spatial gait parameters. In this work, we developed an inertial sensor based in-shoe gait analysis system for real-time gait monitoring and investigated the optimal sampling frequency to capture all the information on walking patterns. An exploratory validation study was performed using an optical motion capture system on four healthy adult subjects, where each person underwent five walking sessions, giving a total of 20 sessions. Percentage mean absolute errors (MAE) obtained in stride time, stride length, stride velocity, and cadence while walking were 1.19, 1.68, 2.08, and 1.23, respectively. In addition, an eigenanalysis based graphical descriptor from raw gait cycle signals was proposed as a new gait metric that can be quantified by principal component analysis to differentiate gait patterns, which has great potential to be used as a powerful analytical tool for gait disorder diagnostics

Protective coatings for intraocular wirelessly controlled microrobots for implantation : corrosion, cell culture, and in vivo animal tests

Grup: Gnm3 FundingDiseases in the ocular posterior segment are a leading cause of blindness. The surgical skills required to treat them are at the limits of human manipulation ability, and involve the risk of permanent retinal damage. Instrument tethering and design limit accessibility within the eye. Wireless microrobots suturelessly injected into the posterior segment, steered using magnetic manipulation, are proposed for procedures involving implantation. Biocompatibility is a prerequisite for these procedures. This paper investigates the use of cobalt-nickel microrobots coated with polypyrrole, and gold, which has been used as an ocular implant material. Polypyrrole has well-established biocompatibility properties, but no reports concerning its ocular implantation is available. Coated and uncoated microrobots were investigated for their corrosion properties, and solutions that had contained coated and uncoated microrobots for one week were tested for cytotoxicity by monitoring NIH3T3 cell viability. None of the microrobots showed significant corrosion currents and corrosion potentials were as expected in relation to the intrinsic nobility of the materials. NIH3T3 cell viability was not affected by the release medium, in which coated/uncoated microrobots were stored. In vivo tests inside rabbit eyes were performed using coated microrobots. There were no significant inflammatory responses during the first week after injection. An inflammatory response detected after two weeks was likely due to a lack of longer-duration biocompatibility. The results provide valuable information for those who work on implant technology and biocompatibility. Coated microrobots have the potential to facilitate a new generation of surgical treatments, diagnostics and drug-delivery techniques, when implantation in the ocular posterior segment will be possible

Electrochemistry: A basic and powerful tool for micro- and nanomotor fabrication and characterization

Electrochemistry, although an ancient field of knowledge, has become of paramount importance in the synthesis of materials at the nanoscale, with great interest not only for fundamental research but also for practical applications. One of the promising fields in which electrochemistry meets nanoscience and nanotechnology is micro/nanoscale motors. Micro/nano motors, which are devices able to perform complex tasks at the nanoscale, are commonly multifunctional nanostructures of different materials - metals, polymers, oxides- and shapes -spheres, wires, helices- with the ability to be propelled in fluids. Here, we first introduce the topic of micro/nanomotors and make a concise review of the field up to day. We have analyzed the field from different points of view (e.g. materials science and nanotechnology, physics, chemistry, engineering, biology or environmental science) to have a broader view of how the different disciplines have contributed to such exciting and impactful topic. After that, we focus our attention on describing what electrochemical technology is and how it can be successfully used to fabricate and characterize micro/nanostructures composed of different materials and showing complex shapes. Finally, we will review the micro and nanomotors fabricated using electrochemical techniques with applications in biomedicine and environmental remediation, the two main applications investigated so far in this field. Thus, different strategies have thus been shown capable of producing core-shell nanomaterials combining the properties of different materials, multisegmented nanostructures made of, for example, alternating metal and polymer segments to confer them with flexibility or helicoidal systems to favor propulsion. Moreover, further functionalization and interaction with other materials to form hybrid and more complex objects is also shown

Wireless Microrobotic Oxygen Sensing for Retinal Hypoxia Monitoring

This paper presents a luminescence oxygen sensor for retinal-hypoxia monitoring. The sensor coats a wirelessly controlled magnetic microrobot that will operate in the human eye. The coating embodies Pt(II) octaethylporphine (PtOEP) dyes as the luminescence material and polystyrene as a supporting matrix. It is deposited on the microrobot as a thin film and this film is experimentally evaluated using a custom optical setup. Due to the intrinsic nature of luminescence lifetimes, oxygen concentration was determined using a frequency-domain lifetime measurement approach. © 2012 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering