Article
Chemistry, Multidisciplinary
Senol Mutlu, Oncay Yasa, Onder Erin, Metin Sitti
Summary: Minimally invasive medical procedures guided by magnetic resonance imaging (MRI) show significant clinical promise, and the use of Lorentz force-based electromagnetic actuators can overcome challenges related to MRI compatibility and miniaturization of precise positioning systems. A miniature, MRI-compatible, and optically powered wireless Lorentz force actuator module has been proposed for creating various wireless active structures for future interventional MRI applications. Proof-of-concept prototypes have already demonstrated the feasibility of using such actuator modules for positioning medical tools inside MRI scanners.
Article
Neurosciences
Cammille C. Go, Huseyin O. Taskin, Seyed-Ahmad Ahmadi, Giulia Frazzetta, Laura Cutler, Saguna Malhotra, Jessica I. W. Morgan, Virginia L. Flanagin, Geoffrey K. Aguirre
Summary: This study aims to characterize the form and magnitude of nystagmus induced at 3T magnetic field. Eye movements of 42 subjects were measured, and persistent nystagmus was observed in subjects in a 3T magnetic field, with the amplitude of nystagmus correlated with the roll angle of the vestibular system.
Article
Engineering, Mechanical
Biao Xiang, Hu Liu, Yuanjin Yu
Summary: The magnetically suspended flywheel utilizes magnetic bearings and Lorentz-force to achieve stable suspension and attitude control, and generates gyroscopic moment through rotor deflection. Experimental results confirm the effectiveness of the magnetically suspended flywheel.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2022)
Review
Engineering, Electrical & Electronic
Septimiu E. Salcudean, Hamid Moradi, David G. Black, Nassir Navab
Summary: Robot-assisted medical imaging utilizes robots to acquire medical images, enabling precise and accurate trajectory control of the imaging system. This technology provides valuable information to physicians and facilitates the alignment of preoperative imaging with patients. This review article describes recent advancements in ultrasound, endoscopy, X-ray, optical coherence tomography, and nuclear medicine, and discusses research directions in autonomous scanning and physics-driven approaches for accurate placement and trajectory control of the imaging system.
PROCEEDINGS OF THE IEEE
(2022)
Article
Radiology, Nuclear Medicine & Medical Imaging
Huan Yang, Peng Lv, Ranying Zhang, Caixia Fu, Jiang Lin
Summary: The study found that low b-value DWI has significant advantages in detecting inflamed vessels in active Takayasu arteritis, with higher image quality and blood suppression compared to T2-weighted imaging. Additionally, the signal-to-noise ratio and contrast-to-noise ratio of the diseased vessel walls were significantly higher on DWI compared to T2WI.
EUROPEAN RADIOLOGY
(2021)
Article
Automation & Control Systems
Yuanrui Huang, Runyu Ma, Hongbin Liu
Summary: This paper presents a hybrid force-magnetic control scheme for a magnetically-actuated flexible surgical robot. The scheme reduces energy consumption and the size of the magnet, while ensuring safe contact with the human body. Experimental results demonstrate the feasibility and accuracy of the proposed control scheme.
Article
Chemistry, Physical
Iman Abdoli, Abhinav Sharma
Summary: Equilibrium properties of passively diffusing particles in an external magnetic field are not affected by Lorentz force, while active Brownian particles exhibit steady-state phenomena that depend on the applied magnetic field's strength and polarity. Through stochastic resetting, an active system transitions into a stationary state characterized by non-uniform density distribution and bulk fluxes perpendicular to density gradients, with novel features emerging in the presence of an inhomogeneous magnetic field. Theoretical predictions are validated using Brownian dynamics simulations, showing that active particles exhibit non-monotonic density distribution at lower resetting rates and take longer to reach a target point when the magnetic field increases away from the axis.
Article
Urology & Nephrology
Benjamin D. Besasie, Abhijit G. Sunnapwar, Feng Gao, Dean Troyer, Geoffrey D. Clarke, Hugh White, Peter T. Fox, Anders Dale, Allison Wheeler, Michael A. Liss
Summary: Restriction spectrum imaging-magnetic resonance imaging improves upgrading detection in active surveillance for prostate cancer, especially for predicting Gleason upgrading, by providing a noninvasive radiological biomarker.
JOURNAL OF UROLOGY
(2021)
Article
Materials Science, Multidisciplinary
Mingxuan Zhang, Zhipeng Ma, Guijuan Chen, Fafeng Xia, Xinlong Yu
Summary: A novel electromagnetic ultrasonic-assisted spreading technique for molten Sn-9Zn solder on SiC ceramics was developed. The distribution and strength of the magnetic induction, along with a numerical simulation, were investigated. The method allows for brazing without direct contact, preventing substrate cracking and providing easy process control and material protection.
JOURNAL OF MATERIALS RESEARCH AND TECHNOLOGY-JMR&T
(2022)
Article
Engineering, Biomedical
Waiman Meinhold, Efe Ozkaya, Derek Petti, Vaughn Rice, Emily Triolo, Fargol Rezayaraghi, Paul Kennedy, Lazar Fleysher, Ai-Ping Hu, Jun Ueda, Mehmet Kurt
Summary: Magnetic Resonance Elastography (MRE) is a developing imaging technique that combines induced mechanical displacements in the tissue with Magnetic Resonance Imaging (MRI) to estimate tissue mechanical properties non-invasively. This study demonstrates the importance of driver configuration in MRE and presents the prototype of an active, imaging guided MRE driver positioning system capable of producing a range of configurations.
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING
(2022)
Editorial Material
Cardiac & Cardiovascular Systems
Christoph Graeni
Summary: Enhancing risk stratification in hypertrophic cardiomyopathy can be achieved by integrating clinical data, electrocardiography, and echocardiography with established markers like late gadolinium enhancement, and incorporating emerging CMR parameters such as T1 mapping, extracellular volume fraction, diffusion tensor imaging, and radiomics. Artificial intelligence-based risk models in extensive datasets and dynamic risk models incorporating longitudinal data can be used instead of conventional risk scores. External validation of these risk models is crucial to ensure their robustness and clinical utility.
EUROPEAN HEART JOURNAL
(2023)
Article
Urology & Nephrology
Paul Doan, Matthijs J. J. Scheltema, Amer Amin, Ron Shnier, Bart Geboers, William Gondoputro, Daniel Moses, Pim J. J. van Leeuwen, Anne Maree Haynes, Jayne Matthews, Phillip Brenner, Gordon O'Neill, Carlo Yuen, Warick Delprado, Phillip Stricker, James Thompson
Summary: This study demonstrates that omitting 1-year confirmatory biopsy during active surveillance is safe if baseline magnetic resonance-targeted biopsy was performed, but a standardized 3-year systematic biopsy should still be conducted to detect occasional MRI-invisible tumors.
JOURNAL OF UROLOGY
(2022)
Article
Robotics
Nitish Kumar, Jackson Wirekoh, Samir Saba, Cameron N. Riviere, Yong-Lae Park
Summary: This article addresses the challenging task of miniaturizing both actuation and sensing for integration into flexible catheters, presenting novel soft thick-walled cylindrical actuators with embedded sensing using eutectic gallium-indium. The functional catheter tips can generate and detect forces, allowing for tracking and control of contact force, potentially making AF procedures safer and more accurate.
Article
Materials Science, Multidisciplinary
Jinmei Sun, Tie Liu, Xiaoyu Guo, Shuang Yuan, Jun Wang, Noriyuki Hirota, Qiang Wang
Summary: The obvious grain refinement of primary MnSb phase has been observed in Mn-89.7 wt% Sb alloy solidified under a high-gradient magnetic field. The refinement can be attributed to the constituent supercooling in front of the solidification interface, which promotes nucleation of the primary MnSb phase, and is linked to the enrichment of Mn solute induced by the magnetic force and the Lorentz force.
JOURNAL OF MATERIALS SCIENCE & TECHNOLOGY
(2024)
Article
Chemistry, Physical
Mehmet Fatih Kaya, Nesrin Demir, Neil V. Rees, Ahmad El-Kharouf
Summary: The production of green hydrogen using proton exchange membrane water electrolysis technology is efficient but expensive. By modifying the electrocatalyst for oxygen evolution reactions to improve bubble separation, the performance of the catalyst is enhanced.
INTERNATIONAL JOURNAL OF HYDROGEN ENERGY
(2021)
Article
Chemistry, Multidisciplinary
Yun-Woo Lee, Sungwoo Chun, Donghoon Son, Xinghao Hu, Martina Schneider, Metin Sitti
Summary: Minimally invasive medical interventions using wireless small-scale medical robots with strong adhesion capability and easy controlled detachment have gained attention. In this study, a small-scale soft robot with octopus-inspired hydrogel adhesive (OHA) is proposed. The OHA robot achieves strong wet adhesion to biological tissues by preventing the collapse of the octopus-inspired patterns during preloading. It also enables easy detachment through temperature changes due to the introduction of poly(N-isopropylacrylamide) hydrogel. The robot demonstrates efficient biomedical functions inside the body, paving the way for future wireless soft miniature robots with minimally invasive medical interventions.
ADVANCED MATERIALS
(2022)
Article
Automation & Control Systems
Hugo Daguerre, Sinan Ozgun Demir, Utku Culha, Francois Marionnet, Michael Gauthier, Metin Sitti, Aude Bolopion
Summary: This article introduces a new method for tracking small-scale robots using electrical impedance tomography. By conducting electrical stimulations and voltage measurements on the boundaries of the robot, its position can be deduced. The experimental validation shows the effectiveness of this method and its potential in medical applications.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Robotics
Shahrior Ahmed, Hunter B. Gilbert
Summary: Continuum robots offer many advantages for use in miniature diagnostic and interventional surgical devices. However, designing snake-like robots with high slenderness ratios is still challenging. This study proposes the use of a flexible screw-driven mechanism to generate large distal actuation forces while locating motors and other components at the base of the device. Compared to other designs, this screw-based design avoids friction buildup and improves the stiffness and mechanical stability of the system.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Caleb Rucker, Jake Childs, Parsa Molaei, Hunter B. Gilbert
Summary: We propose a new method for improving the stability of concentric tube robots by allowing transverse anisotropy. This method is more efficient than previous strategies that reduced the ratio of flexural rigidity to torsional rigidity. In the two-tube case, stability can be improved by reducing flexural rigidity about the axis of precurvature while maintaining high off-axis flexural rigidity and torsional rigidity. The approach is validated with laser-machined Nitinol tubes.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Chemistry, Multidisciplinary
Yichao Tang, Mingtong Li, Tianlu Wang, Xiaoguang Dong, Wenqi Hu, Metin Sitti
Summary: The article introduces a miniature magnetic phase-change soft composite actuator with large output force and work capacity, which can be used in potential applications in medical and robotic fields. Experiments demonstrate that the actuator performs well under remote magnetic radio frequency heating, showing its promising prospects for diverse applications.
ADVANCED MATERIALS
(2022)
Article
Multidisciplinary Sciences
Ren Hao Soon, Ziyu Ren, Wenqi Hu, Ugur Bozuyuk, Erdost Yildiz, Meng Li, Metin Sitti
Summary: This article presents a wireless spring-preloaded barbed needle release mechanism for anchoring untethered soft miniature robots. The mechanism is wirelessly triggered using radio-frequency remote heating and can be easily integrated into existing robotic platforms. It provides robust anchoring in biological tissues and extends the operating depth of the device inside the body. This mechanism opens up new possibilities for biomedical functionalities in untethered soft medical robots.
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2022)
Article
Chemistry, Multidisciplinary
Jae-Kang Kim, Nagaraj Krishna-Subbaiah, Yingdan Wu, Jongkuk Ko, Anitha Shiva, Metin Sitti
Summary: This article presents a two-step curing process to significantly improve the repeatability of the micropatterned flexible silicone molds in UV light curing based R2R systems. The mold repeatability is increased from tens of cycles to over 1000 cycles through this strategy, even for complicated 3D undercut geometries and highly adhesive microstructures.
ADVANCED MATERIALS
(2023)
Article
Chemistry, Multidisciplinary
Yun-Woo Lee, Jae-Kang Kim, Ugur Bozuyuk, Nihal Olcay Dogan, Muhammad Turab Ali Khan, Anitha Shiva, Anna-Maria Wild, Metin Sitti
Summary: This article presents a 3D-printed multifunctional microrobot inspired by pollen grains, which consists of three hydrogel components. Each component has its respective targeted functions, including magnetic field response, temperature responsiveness, and pH-responsive cargo release, enabling the robot to perform various medical functions.
ADVANCED MATERIALS
(2023)
Article
Automation & Control Systems
Chong Hong, Dewei Tang, Qiquan Quan, Zhuoqun Cao, Che Wang, Metin Sitti, Zongquan Deng
Summary: Small-scale jumping robots with two-DOF inertial appendages are presented to improve maneuverability in different phases of operation. These robots can achieve omnidirectional jumping trajectory modulation by controlling the appendages before triggering the jump, crawling locomotion mode by controlling the disengagement and contact between the appendages and the substrate, and stabilizing the body attitude during aerial maneuvering through rapid appendage manipulation. The multifunctional appendages provide a versatile solution for improving the maneuverability of jumping robots.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Multidisciplinary Sciences
Ren Hao Soon, Zhen Yin, Metin Alp Dogan, Nihal Olcay Dogan, Mehmet Efe Tiryaki, Alp Can Karacakol, Asli Aydin, Pouria Esmaeili-Dokht, Metin Sitti
Summary: This article presents a pangolin-inspired bi-layered soft robot design that achieves heating >70 degrees C at distances >5cm without compromising compliance and safety, thus providing a new option for biomedical applications.
NATURE COMMUNICATIONS
(2023)
Article
Multidisciplinary Sciences
Mehmet Efe Tiryaki, Yigit Gunsur Elmacioglu, Metin Sitti
Summary: With the advancement of magnetic actuation principles at ultrahigh fields (UHF), magnetic guidewires show great potential in medical procedures, particularly in MRI scanners. This study presents a magnetic guidewire design and steering strategy by elucidating the uniaxial magnetization behavior of permanent magnets. The proposed magnetic actuation framework allows for unique opportunities, such as in situ remagnetization, and enables next-generation magnetic robots to operate inside MRI scanners.
Proceedings Paper
Automation & Control Systems
Parsa Molaei, Nekita A. Pitts, Hunter B. Gilbert
Summary: This article describes designs that have multiple tendon paths designed to influence the shape of only one continuously deformable section. It shows experimentally that these designs can reduce the uncontrolled compliance of the robot's body while retaining simplicity in design and control.
2023 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM
(2023)
Proceedings Paper
Automation & Control Systems
Dimuthu D. K. Arachchige, Sanjaya Mallikarachchi, Iyad Kanj, Dulanjana M. Perera, Yue Chen, Hunter B. Gilbert, Isuru S. Godage
Summary: Soft robotic snakes made of compliant materials can mimic the flexible and agile locomotion gaits of biological snakes better than rigid-bodied counterparts. However, current soft robotic snakes are limited to planar locomotion gaits due to the lack of wheel support. In this study, a dynamic model was presented to investigate the feasibility of planar and spatial rolling gaits, and the results were experimentally validated on a soft robotic snake prototype.
2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR
(2023)
Article
Chemistry, Multidisciplinary
Jelena Lazovic, Eberhard Goering, Anna-Maria Wild, Peter Schuetzenduebe, Anitha Shiva, Jessica Loeffler, Gordon Winter, Metin Sitti
Summary: Nanodiamonds have great potential for diverse applications and can be visualized and tracked using non-invasive imaging techniques. They possess paramagnetic properties that enable them to provide high contrast to noise ratio in MRI for cell labeling and tracking.
ADVANCED MATERIALS
(2023)
