When dealing with soft, miniaturized and elongated instruments for endoluminal and transluminal applications, actuation technologies are limited. On board actuators are difficult to miniaturize and to integrate, possibly leading to safety issues. Tendon drive systems suffer from friction and they often require very large external actuators. Wireless driving solutions based on magnetic dragging, triggering or anchoring are for these reasons considered extremely promising.ESR 2 will analyse in which districts magnetic actuation can be feasible, it will seek to determine optimal strategies and combinations of hybrid actuation schemes for each target anatomy. Based on patient-specific images, the scaling of magnetic forces and torques can be more or less favourable.In addition, the ESR will explore different magnetic sources, based on permanent magnets and electromagnetic solutions. A taxonomy of magnetic mechanisms for triggering, dragging and anchoring will be prepared. Such can be extremely useful for the different surgical scenarios.
Main institution and supervisor: SSSA, A. Menciassi
Secondary institution and supervisor: KU Leuven, E. Vander Poorten
Early-Stage Researcher: Hasan Dad Ansari Mohammad
ESR4 analyses and select the most appropriate intraluminal sensing solutions for the different body targets. More specifically, for vascular applications on board sensors such as e.g. force sensors on the catheters’ tip and intravascular ultrasound (IVUS) can be combined with external monitoring solutions (e.g. fluoroscopy). For endoluminal and transluminal applications new developments with chip-on-tip devices (e.g. NanEye) or dedicated CCD and CMOS cameras, or use of OCT will be considered.If needed methods to enhance the visibility can be explored (e.g. employing a transparent silicon-like blob ahead of the camera); accelerometer, gyroscopes and magnetic sensors will be used for understanding the position of the internal instruments as regards an external frame. pH sensors could be used for understanding the position of the device based on the sensed pH in the target area.All these sensors are geared to provide maximal information about the surroundings that can be fed into algorithms that aim to reconstruct the surroundings realistically.
Main institution and supervisor: SSSA, A.Menciassi
Secondary institution and supervisor: UNISTRA, P. Renaud
Early-Stage Researcher: Sujit Sahu