Ligtenberg Leendert-Jan W, Rabou Nicole C A, Goulas Constantinos, Duinmeijer Wytze C, Halfwerk Frank R, Arens Jutta, Lomme Roger, Magdanz Veronika, Klingner Anke, Klein Rot Emily A M, Nijland Colin H E, Wasserberg Dorothee, Liefers H Remco, Jonkheijm Pascal, Susarrey-Arce Arturo, Warlé Michiel, Khalil Islam S M
Department of Biomechanical Engineering, University of Twente, 7500 AE, Enschede, The Netherlands.
Department of Design Production and Management, University of Twente, 7500 AE, Enschede, The Netherlands.
Commun Eng. 2024 May 16;3(1):68. doi: 10.1038/s44172-024-00215-2.
Intravascular surgical instruments require precise navigation within narrow vessels, necessitating maximum flexibility, minimal diameter, and high degrees of freedom. Existing tools often lack control during insertion due to undesirable bending, limiting vessel accessibility and risking tissue damage. Next-generation instruments aim to develop hemocompatible untethered devices controlled by external magnetic forces. Achieving this goal remains complex due to testing and implementation challenges in clinical environments. Here we assess the operational effectiveness of hemocompatible untethered magnetic robots using an ex vivo porcine aorta model. The results demonstrate a linear decrease in the swimming speed of untethered magnetic robots as arterial blood flow increases, with the capability to navigate against a maximum arterial flow rate of 67 mL/min. The untethered magnetic robots effectively demonstrate locomotion in a difficult-to-access target site, navigating through the abdominal aorta and reaching the distal end of the renal artery.
血管内手术器械需要在狭窄血管内进行精确导航，这就要求具备最大的灵活性、最小的直径和高度的自由度。现有的工具在插入过程中往往由于不必要的弯曲而缺乏控制，限制了血管的可达性，并存在组织损伤的风险。下一代器械旨在开发由外部磁力控制的血液相容性无系绳装置。由于临床环境中的测试和实施挑战，实现这一目标仍然很复杂。在这里，我们使用离体猪主动脉模型评估血液相容性无系绳磁性机器人的操作有效性。结果表明，随着动脉血流增加，无系绳磁性机器人的游动速度呈线性下降，能够在最大动脉流速为67毫升/分钟的情况下导航。无系绳磁性机器人有效地展示了在难以到达的目标部位的运动能力，穿过腹主动脉并到达肾动脉远端。
