Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy

Son, Dong Hoon; Gilbert, Hunter B.; Sitti, Metin

doi:10.1089/soro.2018.0171

Cited by 156 publications

(109 citation statements)

References 46 publications

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“…The radius of the outer electromagnet is more than twice that of the inner one. Son et al developed a magnetic actuation system with nine electromagnets fixed in a 3 × 3 grid plate (Figure d) . The design parameters are optimized by the requirement of both actuation and localization.…”

Section: Magnetic Actuation Systemsmentioning

confidence: 99%

“…Biopsy is also commonly utilized in the clinic that extracts sample cells or tissues from the body for further tests. Magnetic miniature robots provide less‐invasive options, for example, millimeter end effectors integrated with tiny forceps and needles and micrometer end effectors such as responsive microgrippers . Biomedical sensing can detect medically relevant factors, including pH, oxygen, virus, and bacteria, which offer evidences for diagnoses.…”

Section: Magnetic End Effectorsmentioning

confidence: 99%

“…Because of their small scale, these robots can access complex and narrow regions of the human body in a minimally invasive manner, for example, in the gastrointestinal (GI) tract, vasculature, brain, and eye . Moreover, they have the potential to perform various tasks, such as targeted delivery, precise surgery, and medical examination . In addition, microsized robots have prospects for in vitro applications, such as cell manipulation and tissue engineering, because of their capability to manipulate down to subcellular entities with high precision and repeatability …”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Magnetic Actuation Systems for Miniature Robots: A Review

Yang

Zhang

2020

Advanced Intelligent Systems

220

122

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A magnetic field, which is transparent and relatively safe to biological tissue, is a powerful tool for remote actuation and wireless control of magnetic devices. Furthermore, miniature robots can access complex and narrow regions of the human body as well as manipulate down to subcellular entities; however, integrating onboard components is difficult due to their limited size. Combining these two technologies, magnetic miniature robots have undergone rapid development during the past two decades, mainly because of their high potential in medical and bioengineering applications. To improve the scientific and clinical outcomes of these tiny agents, developing suitable and reliable actuation systems is essential. As a newly emerging field that has progressed in recent years, magnetic actuation systems offer a harmless and effective approach for the remote control of miniature robots via a dynamic magnetic field. Herein, a review on the state‐of‐the‐art magnetic actuation systems for miniature robots is presented with the goal of providing readers with a better understanding of magnetic actuation and guidance for future system design.

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Section: Magnetic Actuation Systemsmentioning

confidence: 99%

Section: Magnetic End Effectorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Magnetic Actuation Systems for Miniature Robots: A Review

Yang

Zhang

2020

Advanced Intelligent Systems

220

122

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show abstract

“…Due to such a magnetic field constraint inside an MRI device, conventional magnetic untethered robot designs that rely on temporal change of magnetic fields, i.e., those with a nonuniform magnetization profile, cannot be used in MRI devices. Therefore, locomotion and functionalities based on rotation, spinning, and undulation types of motions cannot be realized through magnetic robots inside MRI devices . In addition, the very high constant

{\overset{B}{true}}_{0}

magnetic field of an MRI device (e.g., 7 T) is typically strong enough to saturate the magnetic objects inside the bore.…”

Section: Mri‐driven Robots For Medical Applicationsmentioning

confidence: 99%

“…Therefore, locomotion and functionalities based on rotation, spinning, and undulation types of motions cannot be realized through magnetic robots inside MRI devices. [27][28][29][30]59,[62][63][64][65][66][67][68] In addition, the very high constantB 0 magnetic field of an MRI device (e.g., 7 T) is typically strong enough to saturate the magnetic objects inside the bore. This field strength does not allow any complex magnetization profile inside the MRI since the magnetization profile of the robot is always aligned or magnetized along B 0 .…”

Section: Robot Designmentioning

confidence: 99%

Magnetic Resonance Imaging System–Driven Medical Robotics

Erin

Boyvat

Tiryaki

et al. 2020

Advanced Intelligent Systems

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Magnetic resonance imaging (MRI) system–driven medical robotics is an emerging field that aims to use clinical MRI systems not only for medical imaging but also for actuation, localization, and control of medical robots. Submillimeter scale resolution of MR images for soft tissues combined with the electromagnetic gradient coil–based magnetic actuation available inside MR scanners can enable theranostic applications of medical robots for precise image‐guided minimally invasive interventions. MRI‐driven robotics typically does not introduce new MRI instrumentation for actuation but instead focuses on converting already available instrumentation for robotic purposes. To use the advantages of this technology, various medical devices such as untethered mobile magnetic robots and tethered active catheters have been designed to be powered magnetically inside MRI systems. Herein, the state‐of‐the‐art progress, challenges, and future directions of MRI‐driven medical robotic systems are reviewed.

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Magnetic Actuation Methods in Bio/Soft Robotics

Ebrahimi

Cappelleri

et al. 2020

Adv Funct Materials

175

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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Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy

Cited by 156 publications

References 46 publications

Magnetic Actuation Systems for Miniature Robots: A Review

Magnetic Actuation Systems for Miniature Robots: A Review

Magnetic Resonance Imaging System–Driven Medical Robotics

Magnetic Actuation Methods in Bio/Soft Robotics

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