Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application

Magnetically driven microrobots have been widely studied for various biomedical applications in the past decade. An important application of these biomedical microrobots is heart disease treatment. In intravascular treatments, a particular challenge is the submillimeter-sized guidewire steering; this requires a new microrobotic approach. In this study, a flexible microrobot was fabricated by the replica molding method, which consists of three parts: (1) a flexible polydimethylsiloxane (PDMS) body, (2) two permanent magnets, and (3) a micro-spring connector. A mathematical model was developed to describe the relationship between the magnetic field and the deformation. A system identification approach and an algorithm were proposed for steering. The microrobot was fabricated, and the models for steering were experimentally validated under a magnetic field intensity of 15 mT. Limitations to control were identified, and the microrobot was steered in an arbitrary path using the proposed model. Furthermore, the flexible microrobot was steered using the guidewire within a three-dimensional (3D) transparent phantom of the right coronary artery filled with water, to show the potential application in a realistic environment. The flexible microrobot presented here showed promising results for enhancing guidewire steering in percutaneous coronary intervention (PCI)

A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network

Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. Significant progress has been made in the development of soft robotic systems that steer catheters. A more challenging task, however, is the development of systems that steer sub-millimeter-diameter guidewires during intravascular treatments; a novel microrobotic approach is required for steering. In this article, we develop a novel, magnetically actuated, soft microrobotic system, increasing the steerability of a conventional guidewire. The soft microrobot is attached to the tip of the guidewire, and it is magnetically steered by changing the direction and intensity of an external magnetic field. The microrobot is fabricated via replica molding and features a soft body made of polydimethylsiloxane, two permanent magnets, and a microspring. We developed a mathematical model mapping deformation of the soft microrobot using a feed-forward approach toward steering. Then, we used the model to steer a guidewire. The angulation of the microrobot can be controlled from 21.1° to 132.7° by using a magnetic field of an intensity of 15 mT. Steerability was confirmed by two-dimensional in vitro tracking. Finally, a guidewire with the soft microrobot was tested by using a three-dimensional (3D) phantom of the coronary artery to verify steerability in 3D space

Soil and Tree Ring Chemistry of Pinus banksiana and Populus tremuloides Stands as Indicators of Changes in Atmospheric Environments in the Oil Sands Region of Alberta, Canada

The impact of chronic air pollution such as increased CO2 and NOx emissions on forest ecosystems in the Athabasca oil sands region in Alberta, Canada, was investigated in Pinus banksiana (jack pine) and Populus tremuloides (trembling aspen, aspen) stands in two watersheds (NE7 and SM8) located at different distances from the main emission sources of oil sands mining and upgrading facilities, using δ13C, δ15N, and Ca/Al of soil and tree ring samples as indicators. Watershed NE7 was exposed to greater amounts of acid deposition due to its closeness to the mining and upgrading area. The δ15N in the forest floor was lower (p \u3c 0.05) in NE7 (ranged from −1.42 to −0.87‰) than in SM8 (−0.54 to 1.43‰), implying a greater amount of recent deposition of 15N-depleted N in NE7. Tree ring δ13C gradually decreased over time for both tree species/watersheds, indicating the influence of 13C-depleted CO2 emitted from industrial sources. Tree ring N concentration and δ15N were not different between watersheds and did not significantly change with time. Interestingly, however, the difference between watersheds (NE7–SM8) that is expressed as Diff_N (for N) increased with concomitant decreases in Diff_δ15N over time, implying greater increases in 15N-depleted N input in NE7 than in SM8. Such trends were stronger in aspen stands (R2 = 0.64 and p \u3c 0.001 for Diff_N andR2 = 0.44 and p \u3c 0.01 for Diff_δ15N between 1964 and 2009) than in jack pine stands. We conclude that δ15N in the forest floor and differences in N and δ15N of tree rings between watersheds are useful indicators reflecting the impact of spatial variations of air pollution on forest stands in the Athabasca oil sands region in western Canada

Magnetothermal-based non-invasive focused magnetic stimulation for functional recovery in chronic stroke treatment

Abstract Magnetic heat-based brain stimulation of specific lesions could promote the restoration of impaired motor function caused by chronic stroke. We delivered localized stimulation by nanoparticle-mediated heat generation within the targeted brain area via focused magnetic stimulation. The middle cerebral artery occlusion model was prepared, and functional recovery in the chronic-phase stroke rat model was demonstrated by the therapeutic application of focused magnetic stimulation. We observed a transient increase in blood–brain barrier permeability at the target site of < 4 mm and metabolic brain activation at the target lesion. After focused magnetic stimulation, the rotarod score increased by 390 ± 28% (p < 0.05) compared to the control group. Standardized uptake value in the focused magnetic stimulation group increased by 2063 ± 748% (p < 0.01) compared to the control group. Moreover, an increase by 24 ± 5% (p < 0.05) was observed in the sham group as well. Our results show that non-invasive focused magnetic stimulation can safely modulate BBB permeability and enhance neural activation for chronic-phase stroke treatment in the targeted deep brain area

Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot

Abstract Here, we develop a flexible microrobot enhancing the steerability of a conventional guidewire. To improve steerability, a microrobot is attached to the tip of the guidewire and guided using an external magnetic field generated by an electromagnetic coil system. The flexible microrobot is fabricated via replica-molding and features a body made of polydimethylsiloxane (PDMS) and a single permanent magnet. As the robot is made of a deformable material, it can be steered using a low-intensity external magnetic field; the robot can potentially be guided into the coronary artery. To study steering performance, we employed mathematical modeling and a finite element model (FEM), and performed experiments under various magnetic fields. We found that a mathematical model using the Euler–Bernoulli beam could not precisely calculate the deformation angles. The FEM more accurately estimated those angles. The deformation angle can be controlled from 0 to 80° at a magnetic field intensity of 15 mT. The trackability at angles of 45 and 80° of the guidewire-based microrobot was confirmed in vitro using a two-dimensional blood vessel phantom

A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network

Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. Significant progress has been made in the development of soft robotic systems that steer catheters. A more challenging task, however, is the development of systems that steer sub-millimeter-diameter guidewires during intravascular treatments; a novel microrobotic approach is required for steering. In this article, we develop a novel, magnetically actuated, soft microrobotic system, increasing the steerability of a conventional guidewire. The soft microrobot is attached to the tip of the guidewire, and it is magnetically steered by changing the direction and intensity of an external magnetic field. The microrobot is fabricated via replica molding and features a soft body made of polydimethylsiloxane, two permanent magnets, and a microspring. We developed a mathematical model mapping deformation of the soft microrobot using a feed-forward approach toward steering. Then, we used the model to steer a guidewire. The angulation of the microrobot can be controlled from 21.1 degrees to 132.7 degrees by using a magnetic field of an intensity of 15 mT. Steerability was confirmed by two-dimensional in vitro tracking. Finally, a guidewire with the soft microrobot was tested by using a three-dimensional (3D) phantom of the coronary artery to verify steerability in 3D space.Funding for this research was provided by the Korea Evaluation Institute of Industrial Technology (KEIT) funded by the Ministry of Trade, Industry &amp; Energy (No. 10052980) and the Global Research Laboratory from the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (No. NRF 2017K1A1A2013237)