A5023442994- Soft Robotics and Applications
- Micro and Nano Robotics
- Cardiac Arrhythmias and Treatments
- Modular Robots and Swarm Intelligence
- Characterization and Applications of Magnetic Nanoparticles
- Airway Management and Intubation Techniques
- Cardiac pacing and defibrillation studies
- Atrial Fibrillation Management and Outcomes
- Electrical and Bioimpedance Tomography
- Microfluidic and Bio-sensing Technologies
- Underwater Vehicles and Communication Systems
- Head and Neck Surgical Oncology
- Advanced Sensor and Energy Harvesting Materials
- Advanced Materials and Mechanics
- Advanced MRI Techniques and Applications
- Tribology and Lubrication Engineering
- Coronary Interventions and Diagnostics
- Astro and Planetary Science
- Cardiovascular Health and Disease Prevention
- Retinal and Macular Surgery
- Cerebrospinal fluid and hydrocephalus
- Planetary Science and Exploration
- Electrostatics and Colloid Interactions
- Spaceflight effects on biology
- Vascular anomalies and interventions
ETH Zurich
2011-2024
École Polytechnique Fédérale de Lausanne
2020-2024
Kantonsspital Aarau
2024
University of Electro-Communications
2024
University Hospital of Lausanne
2021
Treating vascular diseases in the brain requires access to affected region inside body. This is usually accomplished through a minimally invasive technique that involves use of long, thin devices, such as wires and tubes, are manually maneuvered by clinician within bloodstream. By pushing, pulling, twisting, these devices navigated tortuous pathways blood vessels. The outcome procedure heavily relies on clinician’s skill device’s ability navigate target bloodstream, which often inhibited...
Abstract In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable‐stiffness materials can enable higher dexterity and force application to human tissue. However, the long transition time between soft rigid states leads a significant increase in procedure duration. Here, fast‐response, multisegmented catheter is described for surgery thread (FRVST) that encapsulates helical cooling channel. The rapid stiffness change FRVST, composed nontoxic...
One of the challenges minimally invasive surgery is dexterous manipulation and precise control small‐diameter continuum surgical instruments. Herein, a magnetic device with variable stiffness (VS) presented, whose tip precisely shaped controlled using an external field. Based on low melting point alloy (LMPA), serial segments composing are independently softened via electrical current remotely deformed under torque, whereas rest locked in place. The resulting system has advantage combining...
Abstract Variable stiffness catheters are typically composed of an encapsulated core. The core is usually a low melting point alloy (LMPA) or thermoplastic polymer (TP). In both cases, there need to encapsulate the with elastic material. This imposes limit volume variable (VS) material and limits miniaturization. paper proposes new approach that relies on use thermosetting materials. catheter (VSC) proposed in this work eliminates necessity for encapsulation layer made unique biocompatible...
Abstract Minimally invasive robotic surgery often requires functional tools that can change their compliance to adapt the environment and surgical needs. This paper proposes a submillimeter continuous variable stiffness catheter equipped with phase‐change alloy has high variation in its different states, allowing for rapid control. Variable is achieved through phase boundary due controlled radial temperature gradient. be safely navigated soft state rigidified required during operation apply...
Abstract Variable stiffness (VS) is an important feature that significantly enhances the dexterity of magnetic catheters used in minimally invasive surgeries. Existing with VS consist sensors, heaters, and tubular structures filled low melting point alloys, which have a large change ratio but are toxic to humans. In this paper, catheter described for surgery; based on novel variable thread (VST), made conductive shape memory polymer (CSMP). The CSMP nontoxic simultaneously serves as heater,...
Abstract Magnetic navigation systems are used to precisely manipulate magnetically responsive materials enabling the realization of new minimally invasive procedures using magnetic medical devices. Their widespread applicability has been constrained by high infrastructure demands and costs. The study reports on a portable electromagnetic system, Navion, which is capable generating large field over workspace. system easy install in hospital operating rooms transportable through health care...
Remote magnetic navigation of catheters is a technique used to perform radiofrequency ablation heart tissue in order treat cardiac arrhythmias. The flexible this context are some cases not sufficiently dexterous navigate the complex and patient-specific anatomy heart. To overcome such limitations, paper proposes new approach that relies on integration variable stiffness segments into catheter. (VS) catheter presented here based silicone low melting point alloy (LMPA) transforms from solid...
Cardiac arrhythmias are commonly treated by minimally invasive catheter ablation. Because of challenges in precisely manipulating the distal end catheter, several magnetic manipulation systems (MMS) have been developed to aid steering tip inside heart. Due relative stiffness catheters, gradients that create forces acting on position limited their effectiveness and typically ignored. This dramatically limits orientations possible at any specified workspace. Replacing flexible a string-like...
Summary Robotic endoscope‐automated via laryngeal imaging for tracheal intubation (REALITI) has been developed to enable automated intubation. This proof‐of‐concept study using a convenience sample of participants, comprised trained anaesthetists and lay participants with no medical training, assessed the performance robotic device insertion tube into manikin. A prototype endoscope was inserted trachea an airway manikin by seven training. Each individual performed six insertions in manual...
Remote magnetic navigation is used for the manipulation of untethered micro and nanorobots, as well tethered surgical tools minimally invasive medicine. Mathematical modeling fields generated by systems a fundamental task in control such biomedical applications. In this article, we describe compare several existing newly developed methods representations continuous using interpolation context remote navigation. Clinical-scale electromagnetic feature nonlinear magnetization interactions...
Precise catheter control is crucial to the success of radiofrequency cardiac arrhythmia ablations. Remote using external magnetic fields directly steer tip a promising strategy accurately and easily perform steering. Magnetic catheters must be flexible enough deflected by field but rigid provide sufficient force stability during ablation. These conflicting requirements have limited design options effectiveness catheters. Furthermore, ablation achievable depends strongly on catheter's bending...
Tracheal intubation is considered the gold standard to secure airway of patients in need respiratory assistance, yet this procedure relies on dexterity and experience physician correctly place a tracheal tube into patient's trachea. Such complex may greatly benefit from robotic assistance order make safer more efficient. We developed first device provide such REALITI, which stands for Robotic Endoscope Automated via Laryngeal Imaging Intubation. This allies automated detection key anatomical...
In remote magnetic navigation, a navigation system is used to generate fields apply mechanical wrenches steer object. This technique can be applied navigate untethered micro- and nanorobots, as well tethered surgical tools for minimally invasive medicine. The design characterization of these systems have been extensively investigated over the past decade. determination region in space which operate has yet formalized within research community. commonly referred "workspace" constitutes...
Systemic drug administration often causes off-target effects limiting the efficacy of advanced therapies. Targeted delivery approaches increase local concentrations at diseased site while minimizing systemic exposure. We present a magnetically guided microrobotic system capable precise navigation under physiological conditions. This platform integrates clinical electromagnetic system, custom-designed release catheter, and dissolvable capsule for accurate therapeutic delivery. In vitro tests...
Electromagnetic Navigation Systems (eMNS) can be used to control a variety of multiscale devices within the human body for remote surgery. Accurate modeling magnetic fields generated by electromagnets an eMNS is crucial precise these devices. Existing methods assume linear behavior systems, leading significant errors nonlinear regions exhibited at higher fields, preventing systems from operating full capacity. In this paper, we use random forest (RF) and artificial neural network (ANN) model...
Abstract Patients suffering from heart failure often require circulatory support using ventricular assist devices (VADs). However, most existing VADs provide nonpulsatile flow, involve direct contact between the blood flow and device's lumen moving components, a driveline to connect an external power source. These design features lead complications such as gastrointestinal bleeding, device thrombosis, infections. Here, concept of magnetically active cardiac patches (MACPs) that can...
Remote magnetic navigation (RMN) offers various possibilities for medical interventions. Magnetic catheters can be wirelessly steered with high precision and accuracy through complex structures, as they are generally more dexterous flexible than their manually counterparts. Position feedback is essential many tasks. However, most of the commercially available systems do not integrate well (MNSs). As a result, fluoroscopy still widely used in interventions despite known associated health...
Variable Stiffness Catheter In article number 2101290 by Quentin Boehler, Bradley J. Nelson, and co-workers, a magnetically controlled catheter that is able to continuously change its stiffness presented. Soft, magnetic tools are enhanced with the capability apply control forces during surgical intervention can significantly improve outcome of procedure. The capabilities demonstrated performing fully robotic surgery for challenging ophthalmic intervention. Image designed Adrián Bago González.
Cardiac arrhythmia refers to a condition of an abnormal or irregular heartbeat, which usually results in disturbed blood flow. This can lead reduced cardiac output and increased risk for clot formation, cause life-threatening heart failure stroke. Radio-frequency catheter ablation is becoming the treatment choice most arrhythmias. To recover normal excitation sites inside are first identified then isolated destroyed by applying radio-frequency energy through use catheter. The design precise...
Cardiac arrhythmia affects a large portion of the population, particularly elderly. As population ages, number patients suffering from this condition is expected to rise, underlining importance more efficient treatment methods. Radio-frequency (RF) catheter ablation choice for many cardiac arrhythmias. To recover normal heartbeat, abnormal pacemakers inside heart are first identified and then isolated or destroyed by applying RF energy through use an catheter. While catheter’s design precise...