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

被引：14

作者：

Pancaldi, Lucio ^{[1
,2
]}

Noseda, Lorenzo ^{[1
,2
]}

Dolev, Amit ^{[1
,2
]}

Fanelli, Adele ^{[3
,4
]}

Ghezzi, Diego ^{[3
,4
]}

Petruska, Andrew J. ^{[5
]}

Sakar, Mahmut Selman ^{[1
,2
]}

机构：

[1] Ecole Polytech Fed Lausanne, Inst Mech Engn, CH-1015 Lausanne, Switzerland

[2] Ecole Polytech Fed Lausanne, Inst Bioengn, CH-1015 Lausanne, Switzerland

[3] Ctr Neuroprosthet, Medtron Chair Neuroengn, CH-1202 Geneva, Switzerland

[4] Inst Bioengn, CH-1202 Geneva, Switzerland

[5] Colorado Sch Mines, Mech Engn Dept, Golden, CO 80401 USA

来源：

ADVANCED INTELLIGENT SYSTEMS | 2022年 / 4卷 / 05期

基金：

欧洲研究理事会;

关键词：

endovascular interventions; magnetism; medical imaging; medical robotics; microengineering; solid mechanics; GUIDEWIRE; ABLATION;

D O I：

10.1002/aisy.202100247

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：10