Recent Progress in Medical Miniature Robots

from Bench to Bedside

1st Edition - October 22, 2024
Editors: Li Zhang, Philip Wai Yan Chiu, Kai Fung Chan
Language: English
Paperback ISBN:
9 7 8 - 0 - 4 4 3 - 1 3 3 8 5 - 5
eBook ISBN:
9 7 8 - 0 - 4 4 3 - 1 3 3 8 6 - 2

Recent Progress in Medical Miniature Robots: From Bench to Bedside serves as aspecialized and dedicated reference on miniature robots and their related biomedicalapp… Read more

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Recent Progress in Medical Miniature Robots: From Bench to Bedside serves as a
specialized and dedicated reference on miniature robots and their related biomedical
applications. This book presents the latest achievements in the research of miniature
robotics and introduces a variety of miniature robots on the milli-/micro-/nano-scale, with
tethered/untethered and individual/swarm designs, describing the various types and
analyzing the underlying principles per class. Recent Progress in Medical Miniature Robots:
From Bench to Bedside is suitable for clinicians, academicians, healthcare professionals,
researchers, students, engineers, and scientists working in the field of medical miniature
robots and related biomedical applications.

Recent Progress in Medical Miniature Robots
Cover image
Title page
Table of Contents
Copyright
Contributors
About the editors
Introduction
Chapter 1 Flow-assisted and flow-driven endovascular medical instruments
Abstract
Keywords
1 History of endovascular medical procedures
2 From diagnosis to therapy
3 Toward miniaturization
4 Flow-assisted microcatheters
5 Flow-driven navigation
6 Discussion
References
Chapter 2 Magnetically controlled continuum miniature robot
Abstract
Keywords
1 Introduction
2 Development of magnetic navigation system
2.1 Permanent magnet-based system
2.2 Electromagnetic system
2.3 MRI-based system
3 Development of magnetic continuum robot
3.1 Commercial magnetic catheter
3.2 Submillimeter magnetic continuum robot
3.3 Material and structure optimization
3.4 Functional structure
4 Modeling and control method
4.1 Model-free control method
4.2 Model-based control method
4.3 Imaging devices
5 Application case
5.1 Cardiac ablation
5.2 Retrograde intrarenal surgery
5.3 Intraocular surgery
5.4 Endovascular neurosurgery
6 Challenges and perspectives
6.1 Magnetic navigation system
6.2 Magnetic continuum robot
6.3 Modeling and control method
6.4 Applications
7 Conclusion
References
Chapter 3 Magnetic guidewire/catheter for endovascular treatment
Abstract
Keywords
Acknowledgments
1 Introduction
2 Working principle
2.1 Magnetic actuation theory
2.2 Flexible instrument concept
2.3 Field generation platform
3 Magnetic continuum robots
3.1 Guidewire/catheter-like robot
3.2 Robots with a functional design
3.3 Hybrid robot
4 Conclusion and perspective
References
Chapter 4 A new drive system for microagent controls in targeted therapy based on rotating gradient magnetic fields
Abstract
Keywords
1 Introduction
2 Model of RGM field actuation
2.1 System introduction and setup
2.2 Numerical modeling
2.3 Control strategy: Mapping relationship table
2.4 Convergence control simulation
3 Actuation and control experiment in an open area
3.1 Individual microagent experiment
3.2 Microagent swarm experiment
3.3 Motion performance analysis
4 Experiment investigation of biomedical application
4.1 Microparticle aggregation in the vascular network model
4.2 Ex vivo aggregation in eyeball
5 Discussions and conclusion
Competing interests
Appendix: Experimental details
References
Chapter 5 Innovation in microrobotics for the treatment of Asherman's syndrome: A perspective study
Abstract
Keywords
1 Introduction
2 Definition of intrauterine adhesions
3 Diagnosis and treatment of intrauterine adhesions (IUAs)
3.1 Diagnosis
3.2 Treatment
4 Needs for robot-assisted gynecologic solutions
4.1 Robotic laparoscopy
4.2 Robotic hysteroscopy
4.3 Limitations of current robotic interventions
5 The future microrobotic approach for repairing intrauterine adhesions
5.1 Prevention
5.2 Treatment
6 Conclusion
References
Chapter 6 Design and fabrication of a magnetic actuation miniature soft robot for biological sampling
Abstract
Keywords
Acknowledgments
1 Introduction
2 Design of miniature magnetic soft robots
2.1 Untethered magnetic miniature soft robots
2.2 Tethered magnetic miniature soft robots
2.3 Ferromagnetic fluidic robots and cellular robots
3 Manipulation platforms of miniature magnetic soft robots
3.1 Permanent magnet driving manipulation platform
3.2 Electromagnet driving manipulation platform
4 Biological sampling
4.1 General clinical sampling
4.2 Miniature magnet robotic sampling
5 Design and modeling
5.1 Design scheme
5.2 Physical modeling
6 Prototype fabrication and experimental results
6.1 Prototype fabrication and experimental setup
6.2 Experimental results
7 Conclusions and outlook
References
Chapter 7 Functionalization of microrobots for biomedical applications
Abstract
Keywords
Acknowledgments
1 Introduction
2 Functionalization strategies
2.1 Functional substances decoration
2.2 Chemical composition selection
2.3 Structural functionalization
2.4 Short summary of functionalization strategies
3 Imaging and tracking of microrobots in vivo
3.1 Optical imaging
3.2 MRI and MPI
3.3 X-ray imaging
3.4 Ultrasound imaging and photoacoustic tomography
4 Medical diagnosis
4.1 Toxin detection and biochemical examination
4.2 Metabolite and biomarker detection
4.3 Tumor cell detection
5 Disease treatment
5.1 Cargo delivery
5.2 Surgery tool
6 Conclusion and outlook
References
Chapter 8 Clinical imaging of miniature robots in relevant biological scenarios
Abstract
Keywords
1 Introduction
2 Radiation-based techniques
2.1 Imaging methods based on X-rays
2.2 Imaging methods based on γ-rays
3 Magnetic field-based techniques
3.1 Magnetic resonance imaging
3.2 Magnetic particle imaging (MPI)
4 Ultrasound-based methods
4.1 B-mode imaging
4.2 Doppler imaging
4.3 Ultrasound acoustic phase analysis
5 Optical methods
5.1 Reflection-based imaging
5.2 Fluorescence-based imaging
6 Translational challenges and future perspectives
References
Chapter 9 Magnetic microrobots from individual to collective steering
Abstract
Keywords
1 Introduction
2 From individual to collective control
3 Microswarm formation using predictive modeling
3.1 Motion equations
3.2 Experimental study of microswarm under a rotating field
3.3 Computational platform for predicting microswarm formation
3.4 Simulation results
3.5 Microswarm under different modes of motions
4 Human-in-the-loop control for microswarms
4.1 Design and implementation of the human-in-the-loop approach
4.2 Human-in-the-loop steering results
5 Toward clinical applications
6 Conclusion
References
Chapter 10 Sperm-micromotors for assisted reproduction and drug delivery
Abstract
Keywords
1 Introduction
2 Evolution of sperm-driven micromotors
2.1 Transport of motile sperms
2.2 Transport of immotile sperm
2.3 Strategies for sperm release
2.4 Single sperm versus multisperm transport
3 Future perspectives
3.1 Translation to biomedically relevant scenarios
3.2 Synthetic microrobots inspired by sperm cells and flagellated microorganisms for operations in other organs
4 Summary and outlook
References
Chapter 11 Untethered microrobots for minimally invasive removal of blood clots
Abstract
Keywords
1 Introduction
2 Thrombus formation
3 Design principle of materials and robots used in blood vessels
3.1 Size of microrobots
3.2 Biocompatibility of microrobots
3.3 Immune response
4 Imaging and tracking of microrobots in blood vessels
4.1 Ultrasound imaging (B mode, Doppler mode)
4.2 Fluoroscopic imaging (X-ray)
4.3 Photoacoustic imaging
4.4 MRI
5 Removal of blood clots
5.1 Thrombectomy
5.2 Thrombolysis
6 Conclusion
References
Chapter 12 Micro-/nanorobots for combating biofilm infections
Abstract
Keywords
1 Introduction
2 The key capabilities of antibacterial MNRs
2.1 To drive the antibacterial MNRs
2.2 To improve the movement behavior of antibacterial MNRs
2.3 To integrate imaging technology into the antibacterial MNRs
3 Strategies to eliminate biofilms by MNRs
3.1 Destruction of EPSs of biofilms using MNRs
3.2 Killing bacterial cells within the biofilm
4 Application of MNRs in biofilm eradication: In vitro, ex vivo, and in vivo
4.1 Application in vitro
4.2 Application ex vivo
4.3 Application in vivo
5 Conclusions and prospects
References
Chapter 13 Magnetic actuation of flexible and soft robotic systems for medical applications
Abstract
Keywords
Acknowledgments
1 Introduction
2 Magnetic actuation
2.1 Example: Orientation control of discrete magnets in a continuum
3 Magnetically actuated continuum robots
3.1 Catheters as continuum robots
3.2 Flexure-based continuum manipulators
3.3 Soft materials-based continuum manipulators
3.4 Variable stiffness manipulators
4 Magnetically actuated untethered soft robots
4.1 Bioinspired magnetic soft robots
4.2 Toward medical applications
5 Conclusions
References
Chapter 14 In vitro diagnostics via micro/nanorobotic platform
Abstract
Keywords
1 Challenges in the development of in vitro diagnostic nanorobots
2 Introduction of in vitro diagnostic nanorobots
3 Fluorescence magnetic spore-based microrobots, FMSM
3.1 Background
3.2 Preparation of FMSM
3.3 Actuation performance of FMSM
3.4 Fluorescent properties of FMSM
3.5 Capability of FMSM to detect Clostridioides difficile toxin
3.6 Practical application in clinical stool samples
4 QuickCAS: An easy-to-use standalone analysis system for FMSM
4.1 Theory, device design, and method
4.2 Results
4.3 Conclusions and discussions
5 Difficulty of clinical translation
References
Index

Li Zhang

Li Zhang is a professor at the Department of Mechanical and Automation Engineering and a professor by courtesy at the Department of Surgery at the Chinese University of Hong Kong (CUHK). He is a director at the SIAT—CUHK Joint Laboratory of Robotics and Intelligent Systems, and a group leader in the Multi-scale Medical Robotics Center (MRC), InnoHK, at the Hong Kong Science Park. Dr. Zhang’s research interests include small-scale robotics and biomedical applications. He is elected as FIEEE, FRSC, FAAIA, FHKIE, a member of the Hong Kong Young Academy of Sciences, and an Outstanding Fellow of the Faculty of Engineering at CUHK.

Affiliations and expertise

Professor, Department of Mechanical and Automation Engineering and Professor by courtesy, Department of Surgery at the Chinese University of Hong Kong (CUHK)

Philip Wai Yan Chiu

Philip Wai Yan Chiu is currently the Dean of the Faculty of Medicine, Shun Hing Education and Charity Fund Professor of Robotic Surgery at CUHK, and the Director of MRC and Chow Yuk Ho Technology Centre for Innovative Medicine of CUHK. He is also the Director of Endoscopy at Prince of Wales Hospital and the New Territories East Cluster of the Hong Kong Hospital Authority. His research interests include minimally invasive robotic esophagectomy, novel endoscopic technologies for the diagnosis of early GI cancers, endoscopic surgery, and robotics for endoluminal surgery.

Affiliations and expertise

Dean, Faculty of Medicine, Shun Hing Education and Charity Fund Professor of Robotic Surgery, CUHK, Director of MRC and Chow Yuk Ho Technology Centre for Innovative Medicine of CUHK

Kai Fung Chan

Kai Fung Chan is a research assistant professor at the Chow Yuk Ho Technology Centre for Innovative Medicine and MRC of CUHK. His research interests include medical miniature devices, micro-/nanorobotics, and translational medicine. He is also a co-founder of three start-up companies that are related to in vitro diagnostic devices, miniature medical devices, and medical microrobotic technologies.

Affiliations and expertise

Research assistant professor, Chow Yuk Ho Technology Centre for Innovative Medicine and MRC, CUHK

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Recent Progress in Medical Miniature Robots

from Bench to Bedside

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Li Zhang

Philip Wai Yan Chiu

Kai Fung Chan