Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo
The application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of needles, possibly reducing the number of ports in the patien...
| Main Authors: | , , , , , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-12-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/4/129 |
| _version_ | 1797500929994391552 |
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| author | Lamar O. Mair Sagar Chowdhury Xiaolong Liu Onder Erin Oleg Udalov Suraj Raval Benjamin Johnson Sahar Jafari David J. Cappelleri Yancy Diaz-Mercado Axel Krieger Irving N. Weinberg |
| author_facet | Lamar O. Mair Sagar Chowdhury Xiaolong Liu Onder Erin Oleg Udalov Suraj Raval Benjamin Johnson Sahar Jafari David J. Cappelleri Yancy Diaz-Mercado Axel Krieger Irving N. Weinberg |
| author_sort | Lamar O. Mair |
| collection | DOAJ |
| description | The application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of needles, possibly reducing the number of ports in the patient or the amount of tissue damage caused by tools used to manipulate needles. Magnetic field gradients can dynamically apply kinetic forces to magnetizable objects free of such tethers, possibly enabling ultra-minimally invasive robotic surgical procedures. We demonstrate the untethered manipulation of a suture needle in vitro, exemplified by steering through narrow holes, as well as needle penetration through excised rat and human tissues. We present proof of principle manipulations for the fully untethered control of a minimally modified, standard stainless steel surgical suture needle. |
| first_indexed | 2024-03-10T03:10:57Z |
| format | Article |
| id | doaj.art-c1ccdc7308ae4cfaa2844cd2dd031f64 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-10T03:10:57Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-c1ccdc7308ae4cfaa2844cd2dd031f642023-11-23T10:26:56ZengMDPI AGRobotics2218-65812021-12-0110412910.3390/robotics10040129Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex VivoLamar O. Mair0Sagar Chowdhury1Xiaolong Liu2Onder Erin3Oleg Udalov4Suraj Raval5Benjamin Johnson6Sahar Jafari7David J. Cappelleri8Yancy Diaz-Mercado9Axel Krieger10Irving N. Weinberg11Weinberg Medical Physics, Inc., North Bethesda, MD 20852, USAWeinberg Medical Physics, Inc., North Bethesda, MD 20852, USADepartment of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USADepartment of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USAWeinberg Medical Physics, Inc., North Bethesda, MD 20852, USADepartment of Mechanical Engineering, University of Maryland, College Park, MD 20742, USAMulti-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USAWeinberg Medical Physics, Inc., North Bethesda, MD 20852, USAMulti-Scale Robotics and Automation Lab, School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USADepartment of Mechanical Engineering, University of Maryland, College Park, MD 20742, USADepartment of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USAWeinberg Medical Physics, Inc., North Bethesda, MD 20852, USAThe application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of needles, possibly reducing the number of ports in the patient or the amount of tissue damage caused by tools used to manipulate needles. Magnetic field gradients can dynamically apply kinetic forces to magnetizable objects free of such tethers, possibly enabling ultra-minimally invasive robotic surgical procedures. We demonstrate the untethered manipulation of a suture needle in vitro, exemplified by steering through narrow holes, as well as needle penetration through excised rat and human tissues. We present proof of principle manipulations for the fully untethered control of a minimally modified, standard stainless steel surgical suture needle.https://www.mdpi.com/2218-6581/10/4/129magnetic controlmagnetic needle steeringmagnetic surgeryneedle–tissue dynamicssutures |
| spellingShingle | Lamar O. Mair Sagar Chowdhury Xiaolong Liu Onder Erin Oleg Udalov Suraj Raval Benjamin Johnson Sahar Jafari David J. Cappelleri Yancy Diaz-Mercado Axel Krieger Irving N. Weinberg Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo Robotics magnetic control magnetic needle steering magnetic surgery needle–tissue dynamics sutures |
| title | Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo |
| title_full | Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo |
| title_fullStr | Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo |
| title_full_unstemmed | Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo |
| title_short | Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo |
| title_sort | going hands free magnetosuture™ for untethered guided needle penetration of human tissue ex vivo |
| topic | magnetic control magnetic needle steering magnetic surgery needle–tissue dynamics sutures |
| url | https://www.mdpi.com/2218-6581/10/4/129 |
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