Erin Onder, Liu Xiaolong, Ge Jiawei, Opfermann Justin, Barnoy Yotam, Mair Lamar O, Kang Jin U, Gensheimer William, Weinberg Irving N, Diaz-Mercado Yancy, Krieger Axel
Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.
Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
Adv Intell Syst. 2022 Jun;4(6). doi: 10.1002/aisy.202200072. Epub 2022 Apr 22.
The field of magnetic robotics aims to obviate physical connections between the actuators and end-effectors. Such tetherless control may enable new ultra-minimally invasive surgical manipulations in clinical settings. While wireless actuation offers advantages in medical applications, the challenge of providing sufficient force to magnetic needles for tissue penetration remains a barrier to practical application. Applying sufficient force for tissue penetration is required for tasks such as biopsy, suturing, cutting, drug delivery, and accessing deep seated regions of complex structures in organs such as the eye. To expand the force landscape for such magnetic surgical tools, an impact-force based suture needle capable of penetrating and samples with 3-DOF planar motion is proposed. Using custom-built 14G and 25G needles, we demonstrate generation of 410 mN penetration force, a 22.7-fold force increase with more than 20 times smaller volume compared to similar magnetically guided needles. With the MPACT-Needle, suturing of a gauze mesh onto an agar gel is demonstrated. In addition, we have reduced the tip size to 25G, which is a typical needle size for interventions in the eye, to demonstrate penetration in a rabbit eye, mimicking procedures such as corneal injections and transscleral drug delivery.
磁性机器人技术领域旨在消除致动器与末端执行器之间的物理连接。这种无系绳控制可能会在临床环境中实现新的超微创手术操作。虽然无线驱动在医疗应用中具有优势,但为磁针提供足够的力以穿透组织仍然是实际应用的一个障碍。活检、缝合、切割、药物输送以及进入眼睛等器官复杂结构的深部区域等任务,都需要施加足够的力来穿透组织。为了拓展此类磁性手术工具的力场范围,我们提出了一种基于冲击力的缝合针,它能够通过三维平面运动穿透组织并采集样本。使用定制的14G和25G针,我们展示了能产生410毫牛的穿透力,与类似的磁导针相比,力增加了22.7倍,体积减小了20多倍。借助MPACT针,我们展示了将纱布网缝合到琼脂凝胶上的过程。此外,我们已将针尖尺寸减小到25G,这是眼部干预的典型针尺寸,以展示在兔眼中的穿透情况,模拟角膜注射和经巩膜药物输送等操作。