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Flow driven robotic navigation of microengineered endovascular probes

Author

Listed:
  • Lucio Pancaldi

    (Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL))

  • Pietro Dirix

    (Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL))

  • Adele Fanelli

    (Medtronic Chair in Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, School of Engineering, EPFL)

  • Augusto Martins Lima

    (Institute of Bioengineering, EPFL)

  • Nikolaos Stergiopulos

    (Institute of Bioengineering, EPFL)

  • Pascal John Mosimann

    (Institute for Diagnostic and Interventional Neuroradiology
    Department of Diagnostic and Interventional Neuroradiology, Alfried Krupp Krankenhaus)

  • Diego Ghezzi

    (Medtronic Chair in Neuroengineering, Center for Neuroprosthetics and Institute of Bioengineering, School of Engineering, EPFL)

  • Mahmut Selman Sakar

    (Institute of Mechanical Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL)
    Institute of Bioengineering, EPFL)

Abstract

Minimally invasive medical procedures, such as endovascular catheterization, have considerably reduced procedure time and associated complications. However, many regions inside the body, such as in the brain vasculature, still remain inaccessible due to the lack of appropriate guidance technologies. Here, experimentally and through numerical simulations, we show that tethered ultra-flexible endovascular microscopic probes can be transported through tortuous vascular networks with minimal external intervention by harnessing hydrokinetic energy. Dynamic steering at bifurcations is performed by deformation of the probe head using magnetic actuation. We developed an endovascular microrobotic toolkit with a cross-sectional area that is orders of magnitude smaller than the smallest catheter currently available. Our technology has the potential to improve state-of-the-art practices as it enhances the reachability, reduces the risk of iatrogenic damage, significantly increases the speed of robot-assisted interventions, and enables the deployment of multiple leads simultaneously through a standard needle injection and saline perfusion.

Suggested Citation

  • Lucio Pancaldi & Pietro Dirix & Adele Fanelli & Augusto Martins Lima & Nikolaos Stergiopulos & Pascal John Mosimann & Diego Ghezzi & Mahmut Selman Sakar, 2020. "Flow driven robotic navigation of microengineered endovascular probes," Nature Communications, Nature, vol. 11(1), pages 1-14, December.
    • Handle: RePEc:nat:natcom:v:11:y:2020:i:1:d:10.1038_s41467-020-20195-z
    DOI: 10.1038/s41467-020-20195-z
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    Cited by:

    1. Tianlu Wang & Halim Ugurlu & Yingbo Yan & Mingtong Li & Meng Li & Anna-Maria Wild & Erdost Yildiz & Martina Schneider & Devin Sheehan & Wenqi Hu & Metin Sitti, 2022. "Adaptive wireless millirobotic locomotion into distal vasculature," Nature Communications, Nature, vol. 13(1), pages 1-17, December.
    2. Liyang Mao & Peng Yang & Chenyao Tian & Xingjian Shen & Feihao Wang & Hao Zhang & Xianghe Meng & Hui Xie, 2024. "Magnetic steering continuum robot for transluminal procedures with programmable shape and functionalities," Nature Communications, Nature, vol. 15(1), pages 1-16, December.
    3. Mengmeng Sun & Bo Hao & Shihao Yang & Xin Wang & Carmel Majidi & Li Zhang, 2022. "Exploiting ferrofluidic wetting for miniature soft machines," Nature Communications, Nature, vol. 13(1), pages 1-14, December.

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