University of Twente Student Theses


Design of a Compliant Magnetic Capsule Robot for Untethered Cardiovascular Surgical Tools

Vliet, G.M. van (2021) Design of a Compliant Magnetic Capsule Robot for Untethered Cardiovascular Surgical Tools.

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Embargo date:3 November 2022
Abstract:Minimally invasive surgery has emerged over the last few decades as an important approach to treat many diseases. Research has developed and optimized many (robotic) medical systems to reduce invasiveness and increase the possibilities within this area. Remote structures in the human body could be reached in an even less invasive way by investigating new MIS methods. Untethered capsule robots are used for diagnosis in the digestive tract. However, these capsule robots are limited to diagnosis in the digestive tract. This study investigates a wireless approach to enable the development of untethered cardiovascular surgical tools. The prototype presented in this research is a compliant magnetic capsule robot (CMCR) which provides a base for milli-scale surgical tools in the abdominal aorta. The CMCR consists of a exible inner core for exibility in the axial direction, circular exures for radial adaptability, permanent ring-magnets for actuation and exible threads for tissue compliance and movement. The outer, default diameter of the capsule is 21 mm which fits in the abdominal aorta. Untethered actuation of the capsule robot is accomplished with an external magnetic field which interacts with the permanent ring-magnets of the robot. Experiments are performed on the capsule robot at three different scales (1.00x, 1.25x and 1.50x) to demonstrate as a proof-of-concept for these type of untethered cardiovascular intervention tools. The results show the capsule robot moving through straight and curved acrylic tubes with different diameters. Besides this, experiments in a gelatin-coated tubes with an inner diameter (ID) of 26 mm show movement when the (1.25-scale) CMCR prototype is not compressed. However, the 1.25-scale CMCR damaged the gelatin-coating in experiments with an ID21 mm gelatin-coated tube. Stagnation of the robot's movement is observed in a exible tapered tube. The CMCR holds steady in a liquid ow and a minimally invasive insertion method with the CMCR embedded in ice is successfully tested. These results demonstrate desired and promising movement and adaptability of the capsule robot which provides a proof-of-concept for these type of robots. Nevertheless, some drawbacks show that many improvements need to be made before an application-ready, compliant, and stable base for untethered cardiovascular surgical intervention tools is reached.
Item Type:Essay (Master)
Faculty:TNW: Science and Technology
Subject:01 general works, 44 medicine
Programme:Biomedical Engineering MSc (66226)
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