论文标题

微型工程内血管内探针的流动驱动机器人导航

Flow-driven robotic navigation of microengineered endovascular probes

论文作者

Pancaldi, Lucio, Dirix, Pietro, Fanelli, Adele, Ghezzi, Diego, Sakar, Mahmut Selman

论文摘要

微创医疗程序(例如血管内导管插入术)的过程时间和相关并发症大幅减少。但是,由于缺乏适当的指导技术,人体内部的许多区域(例如在大脑脉管系统中)仍然无法接近。在这里,通过实验和通过数值模拟,我们表明,几乎可以通过利用遗传能量来通过曲折的血管网络来通过曲折的血管网络运输。分叉时的动态转向是通过使用磁性驱动的探针头的变形进行的。我们开发了一个血管内微生物工具包,其横截面区域比当前可用的最小微型导管小约三个数量级。我们的技术有可能彻底改变最先进的实践,因为它可以提高可及性,降低医源性损害的风险,大大提高机器人辅助干预措施的速度,并通过标准的针刺进行同时部署多个铅。

Minimally invasive medical procedures, such as endovascular catheterization, have drastically 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 almost effortlessly 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 approximately three orders of magnitude smaller than the smallest microcatheter currently available. Our technology has the potential to revolutionize the 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.

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