Choi Andrew, Gultepe Evin, Gracias David H
A. Choi, E. Gultepe and D. H. Gracias performed this work at the Department of Chemical and Biomolecular Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.
IEEE Int Conf Control Autom. 2017 Jul;2017:857-860. doi: 10.1109/ICCA.2017.8003172. Epub 2017 Aug 8.
The surgical biopsy is one of the most widely utilized medical procedures for diagnosis of a number of diseases. In order to enable less invasive biopsies, we have previously developed and applied residual stress and physiologically activated sub-millimeter sized untethered grippers. Here, we report a controlled, pneumatic system and methodology for pressurized delivery of untethered microgrippers (μ-grippers) to improve the efficacy of tissue excision. The approach is compatible with current minimally invasive laparoscopic and endoscopic methods. Using a model experimental system, we observed that pneumatic delivery significantly improves the efficiency of the tissue attachment-μ-grippers attach up to 30-fold better on vertically oriented tissues, and up to 3.5-fold better on horizontally oriented tissues as compared to experiments without pressurized delivery. Hence, the use of pneumatics in the delivery of untethered microdevices could significantly enhance their efficiency in minimally invasive biopsy procedures.
手术活检是诊断多种疾病最广泛应用的医疗程序之一。为了实现侵入性更小的活检，我们之前开发并应用了残余应力和生理激活的亚毫米级无系留式夹持器。在此，我们报告一种用于无系留式微夹持器（μ-夹持器）加压输送的可控气动系统和方法，以提高组织切除的效果。该方法与当前的微创腹腔镜和内窥镜方法兼容。使用模型实验系统，我们观察到气动输送显著提高了组织附着效率——与无加压输送的实验相比，μ-夹持器在垂直取向组织上的附着效果提高了30倍，在水平取向组织上提高了3.5倍。因此，在无系留式微型设备的输送中使用气动技术可显著提高其在微创活检程序中的效率。
