Video attachment for “Magnetic Hammer Actuation for Tissue Penetration using a Millirobot,”
[ Ссылка ]
by Julien Leclerc, Ashwin Ramakrishnan, Nikolaos V. Tsekos, and Aaron T. Becker, IEEE Robotics and Automation Letters, Volume: 3 , Issue: 1 , Jan. 2018
The video presents the magnetic hammer system for tissue penetration using an MRI scanner as actuator. The video display successful penetration tests performed in a laboratory test bench and preliminary tests inside an MRI scanner.
We thank Dr. Ouajdi Felfoul for designing and running the MRI pulse sequences.
=====CONTACT INFORMATION=========================
Julien Leclerc, Ashwin Ramakrishnan, Nikolaos V. Tsekos, and Aaron T. Becker at the University of Houston
=====PAPER ABSTRACT=========================
Untethered magnetic navigation of millirobots within a human body using a Magnetic Resonance Imaging (MRI) scanner is a promising technology for minimally invasive surgery or drug delivery. Because MRI scanners have a large static magnetic field, they cannot generate torque on magnetic millirobots and must instead use gradient-based pulling. However, gradient values are too small to produce forces large enough to penetrate tissue. This paper presents a method to produce large pulsed forces on millirobots. A ferromagnetic sphere is placed inside a hollow robot body and can move back and forth. This movement is created by alternating the magnetic gradient direction. On the posterior side, a spring allows the sphere to change direction smoothly. On the anterior side, a hard rod creates a surface for the sphere to impact. This impact results in a large pulsed force. The purpose of this study was to understand the functioning of magnetic hammer actuation and control, as well as demonstrate the viability of this mechanism for tissue penetration. This paper begins with modeling and simulating this system. Next, different control strategies are presented and tested. The system successfully penetrated lamb brain samples. Finally, preliminary tests inside a clinical MRI scanner demonstrate the potential of this actuation system.
