Electronically integrated microcatheters based on self-assembling polymer films

Rivkin, B. B.; Becker, Christian; Singh, Balram; Aziz, Azaam; Akbar, Farzin; Egunov, Aleksandr; Karnaushenko, Dmitriy D.; Naumann, Ronald; Schäfer, Rudolf; Medina‐Sánchez, Mariana; Schmidt, Oliver G.

doi:10.1126/sciadv.abl5408

Cited by 30 publications

(34 citation statements)

References 68 publications

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“…2(b)). 109 With a diameter of only 0.1 mm, the medical catheter could accommodate actuating units (electrically actuated manipulator) and sensing units (magnetic sensors), and perform fluid delivery by taking advantage of the hollow structure. In addition, Bandari et al proposed a flexible motile microsystem with wireless energy transfer functions to control the propulsion of the microsystem and to power the integrated electronic modules in the microsystem (Fig.…”

Section: Semiconductor and Microelectronic Techniquesmentioning

confidence: 99%

“…Reproduced with permission. 109 Copyright 2021, American Association for the Advancement of Science. (b) Silicone balloon catheter integrating vertically stacked temperature sensor array, pressure sensor array, and electrode array.…”

Section: Biomedical Applicationmentioning

confidence: 99%

“…8(a)). 109 The integrated catheter can be moved in a curved channel with a diameter of only 0.2 mm, and the hollow structure can be used to deliver fluids in the esophagus and stomach of a mouse. A gripper actuated by a conductive polymer film integrated at the end of the catheter is able to capture particles with a diameter of 0.1 mm in a tube, which is expected to be used to capture blood clots or cells.…”

Section: Applications Of Multicomponent and Multifunctional Integrate...mentioning

confidence: 99%

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Multicomponent and multifunctional integrated miniature soft robots

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Section: Semiconductor and Microelectronic Techniquesmentioning

confidence: 99%

Section: Biomedical Applicationmentioning

confidence: 99%

Section: Applications Of Multicomponent and Multifunctional Integrate...mentioning

confidence: 99%

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Multicomponent and multifunctional integrated miniature soft robots

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“…Most commercial systems such as Sensei X and Magellan (Hansen Medical, Mountain View, CA, USA) use tendon‐based force transmission. [ 8 , 9 , 10 ] However, researchers have proposed many different alternative actuation mechanisms, such as multi‐backbone, [ 11 ] concentric tubes, [ 12 , 13 ] pneumatics, [ 14 ] smart materials, [ 15 , 16 , 17 , 18 , 19 , 20 , 21 ] hydraulics, [ 22 , 23 , 24 , 25 , 26 , 27 ] magnetics, [ 28 , 29 , 30 , 31 , 32 , 33 ] or hybrid approaches [ 34 , 35 ] to overcome certain drawbacks of tendon‐based systems.…”

Section: Introductionmentioning

confidence: 99%

Heat‐Mitigated Design and Lorentz Force‐Based Steering of an MRI‐Driven Microcatheter toward Minimally Invasive Surgery

et al. 2022

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Catheters integrated with microcoils for electromagnetic steering under the high, uniform magnetic field within magnetic resonance (MR) scanners (3-7 Tesla) have enabled an alternative approach for active catheter operations. Achieving larger ranges of tip motion for Lorentz force-based steering have previously been dependent on using high power coupled with active cooling, bulkier catheter designs, or introducing additional microcoil sets along the catheter. This work proposes an alternative approach using a heat-mitigated design and actuation strategy for a magnetic resonance imaging (MRI)-driven microcatheter. A quad-configuration microcoil (QCM) design is introduced, allowing miniaturization of existing MRI-driven, Lorentz force-based catheters down to 1-mm diameters with minimal power consumption (0.44 W). Heating concerns are experimentally validated using noninvasive MRI thermometry. The Cosserat model is implemented within an MR scanner and results demonstrate a desired tip range up to 110°with 4°error. The QCM is used to validate the proposed model and power-optimized steering algorithm using an MRI-compatible neurovascular phantom and ex vivo kidney tissue. The power-optimized tip orientation controller conserves as much as 25% power regardless of the catheter's initial orientation. These results demonstrate the implementation of an MRI-driven, electromagnetic catheter steering platform for minimally invasive surgical applications without the need for camera feedback or manual advancement via guidewires. The incorporation of such system in clinics using the proposed design and actuation strategy can further improve the safety and reliability of future MRI-driven active catheter operations.

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“…[7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24] Integration of electronic devices on endovascular instruments such as force, temperature, pressure, and flow sensors [25][26][27] facilitated the development of intelligent machines that are capable of navigating the cardiovascular system autonomously. [28] Sensor-integrated catheters have been miniaturized to millimeter [29][30][31][32] and even micrometer scale [33] using microengineering methods. Despite these technological advances, catheterization of tortuous small vessels using the conventional push-based navigation technique is still tedious, timeconsuming, and can damage the vasculature.…”

Section: Introductionmentioning

confidence: 99%

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

Pancaldi

Noseda

Dolev

et al. 2022

Advanced Intelligent Systems

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One of the grand challenges in interventional cardiology and neuroradiology is to minimize the operation time and risk of damage during catheterization. These two factors drastically increase if the target location resides in small and tortuous vessels. Flow‐driven microcatheters are capable of rapidly and safely navigating small arteries with complex anatomy. However, their navigation relies on proper perfusion, which is an important bottleneck in the treatment of pathologies that cause impaired flow conditions. This work introduces the first endovascular sensor‐integrated soft robotic device that navigates sub‐millimeter arteries by extracting propulsive power from external magnetic fields. To this end, a number of innovations are described in the design, actuation, and control of flexible magnetic structures. The device is capable of advancing inside vasculature in an automated fashion using an open‐loop control scheme. Onboard sensors enable the real‐time monitoring of flow conditions, and autonomous switching between different modes of locomotion. The potential of the presented technology for minimally invasive diagnosis and therapy is demonstrated by achieving navigation inside coronary arteries of an ex vivo porcine heart under fluoroscopic guidance.

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Electronically integrated microcatheters based on self-assembling polymer films

Abstract: Self assembled catheters with deep sub-mm diameters deliver liquids, carry out micromanipulation, and sense magnetic fields.

Cited by 30 publications

References 68 publications

Multicomponent and multifunctional integrated miniature soft robots

Multicomponent and multifunctional integrated miniature soft robots

Heat‐Mitigated Design and Lorentz Force‐Based Steering of an MRI‐Driven Microcatheter toward Minimally Invasive Surgery

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

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