Magnetic Resonance Guided Navigation of Untethered Microgrippers.
Magnetic Resonance Guided Navigation of Untethered Microgrippers.
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DOI：
10.1002/adhm.202000869
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发表时间：
2021-03
影响因子：
10
通讯作者：
Gracias DH
中科院分区：
文献类型：
--
作者：
Ghosh A;Liu Y;Artemov D;Gracias DH
显微外科工具提供了一条微创临床手术的途径，改善了手术入路，减少了创伤，并获得了更好的恢复结果。有各种刚性和柔性内窥镜设备，具有显着先进的诊断和显微外科手术。然而，它们依赖于用于引导和操作小型末端执行器工具的线或系绳。虽然未拴系的生理响应微型夹具先前已被证明可以在动物模型中从深胃肠道位置切除组织，但存在与沿着路径引导它们并将它们移动到特定位置相关的挑战。在该通信中，未拴系的热响应夹具的磁偶极矩被优化以有效地耦合到外部磁共振（MR）场。夹持器封装在毫米大小的蜡丸中，减少了与周围组织的摩擦，并且在组织模型和离体猪食管中的狭窄通道内实现了700 μm大小的微夹持器的MR导航（MRN）。结果显示令人信服的概念验证证据，它是可能的顺序图像，移动，并引导亚毫米功能显微手术工具在组织管道使用商业临床前MR系统，当结合先前的演示生理反应在体内活检是一个重要的一步，走向临床翻译的untethered microtools。使用临床前磁共振（MR）扫描仪产生的梯度力来引导热磁响应手术微型工具。微夹持器的设计优化导致显著增强的磁耦合和与组织表面的静摩擦减小。结果表明，磁共振引导下的靶向显微手术，使用亚毫米尺度的生物医学工具的可行性。
Microsurgical tools offer a path to less invasive clinical procedures with improved access, reduced trauma, and better recovery outcomes. There are a variety of rigid and flexible endoscopic devices that have significantly advanced diagnostics and microsurgery. However, they rely on wires or tethers for guidance and operation of small end-effector tools. While untethered physiologically responsive microgrippers have been previously shown to excise tissue from deep gastrointestinal locations in animal models, there are challenges associated with guiding them along paths and moving them to specific locations. In this communication, the magnetic dipole moment of untethered thermally responsive grippers is optimized for efficient coupling to external magnetic resonance (MR) fields. Gripper encapsulation in a millimeter sized wax pellet reduces the friction with the surrounding tissue and MR Navigation (MRN) of a 700 μm sized microgripper is realized within narrow channels in tissue phantoms and in an ex vivo porcine esophagus. The results show convincing proof-of-concept evidence that it is possible to sequentially image, move, and guide a submillimeter functional microsurgical tool in tissue conduits using a commercial preclinical MR system, and when combined with prior demonstrations of physiologically responsive in vivo biopsy are an important step towards the clinical translation of untethered microtools. Thermomagnetically responsive surgical microtools are guided using the gradient force generated using a pre-clinical magnetic resonance (MR) scanner. Design optimization of the microgrippers results in significantly enhanced magnetic coupling and reduced static friction with tissue surfaces. The results suggest feasibility of MR guided targeted microsurgery using submillimeter scale biomedical tools.
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影响因子：
29.4
作者：
Gultepe E;Yamanaka S;Laflin KE;Kadam S;Shim Y;Olaru AV;Limketkai B;Khashab MA;Kalloo AN;Gracias DH;Selaru FM
通讯作者：
Selaru FM
影响因子：
24.2
作者：
Fernandes, Rohan;Gracias, David H.
通讯作者：
Gracias, David H.
影响因子：
14
作者：
Pouponneau, Pierre;Leroux, Jean-Christophe;Martel, Sylvain
通讯作者：
Martel, Sylvain
影响因子：
10.8
作者：
Li, Jinxing;Li, Tianlong;Wang, Joseph
通讯作者：
Wang, Joseph
影响因子：
19
作者：
Ghosh, Arijit;Dasgupta, Debayan;Ghosh, Ambarish
通讯作者：
Ghosh, Ambarish