Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting

Leendert-Jan Ligtenberg; Nicole C. A. Rabou; Constantinos Goulas; Wytze Duinmeijer; Frank R. Halfwerk; Jutta Arens; Roger Lomme; Veronika Magdanz; Anke Klingner; Emily A. M. Klein Rot; Colin H. E. Nijland; Dorothee Wasserberg; H. Remco Liefers; Pascal Jonkheijm; Arturo Susarrey-Arce; Michiel Warlé; Islam S. M. Khalil

doi:10.1038/s44172-024-00215-2

Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting

Leendert-Jan Ligtenberg, Nicole C. A. Rabou, Constantinos Goulas, Wytze Duinmeijer, Frank R. Halfwerk, Jutta Arens, Roger Lomme, Veronika Magdanz, Anke Klingner, Emily A. M. Klein Rot, Colin H. E. Nijland, Dorothee Wasserberg, H. Remco Liefers, Pascal Jonkheijm, Arturo Susarrey-Arce, Michiel Warlé, Islam S. M. Khalil^* (Corresponding Author)

^*Corresponding author for this work

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

Intravascular surgical instruments require precise navigation within narrow vessels, necessitating maximum flexibility, minimal diameter, and high degrees of freedom. Existing tools often lack control during insertion due to undesirable bending, limiting vessel accessibility and risking tissue damage. Next-generation instruments aim to develop hemocompatible untethered devices controlled by external magnetic forces. Achieving this goal remains complex due to testing and implementation challenges in clinical environments. Here we assess the operational effectiveness of hemocompatible untethered magnetic robots using an ex vivo porcine aorta model. The results demonstrate a linear decrease in the swimming speed of untethered magnetic robots as arterial blood flow increases, with the capability to navigate against a maximum arterial flow rate of 67 mL/min. The untethered magnetic robots effectively demonstrate locomotion in a difficult-to-access target site, navigating through the abdominal aorta and reaching the distal end of the renal artery.

Original language	English
Article number	68
Journal	Communications Engineering
Volume	3
Early online date	16 May 2024
DOIs	https://doi.org/10.1038/s44172-024-00215-2
Publication status	E-pub ahead of print/First online - 16 May 2024

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Ligtenberg, L.-J., Rabou, N. C. A., Goulas, C., Duinmeijer, W., Halfwerk, F. R., Arens, J., Lomme, R., Magdanz, V., Klingner, A., Rot, E. A. M. K., Nijland, C. H. E., Wasserberg, D., Liefers, H. R., Jonkheijm, P., Susarrey-Arce, A., Warlé, M., & Khalil, I. S. M. (2024). Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting. Communications Engineering, 3, Article 68. Advance online publication. https://doi.org/10.1038/s44172-024-00215-2

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title = "Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting",

abstract = "Intravascular surgical instruments require precise navigation within narrow vessels, necessitating maximum flexibility, minimal diameter, and high degrees of freedom. Existing tools often lack control during insertion due to undesirable bending, limiting vessel accessibility and risking tissue damage. Next-generation instruments aim to develop hemocompatible untethered devices controlled by external magnetic forces. Achieving this goal remains complex due to testing and implementation challenges in clinical environments. Here we assess the operational effectiveness of hemocompatible untethered magnetic robots using an ex vivo porcine aorta model. The results demonstrate a linear decrease in the swimming speed of untethered magnetic robots as arterial blood flow increases, with the capability to navigate against a maximum arterial flow rate of 67 mL/min. The untethered magnetic robots effectively demonstrate locomotion in a difficult-to-access target site, navigating through the abdominal aorta and reaching the distal end of the renal artery.",

author = "Leendert-Jan Ligtenberg and Rabou, {Nicole C. A.} and Constantinos Goulas and Wytze Duinmeijer and Halfwerk, {Frank R.} and Jutta Arens and Roger Lomme and Veronika Magdanz and Anke Klingner and Rot, {Emily A. M. Klein} and Nijland, {Colin H. E.} and Dorothee Wasserberg and Liefers, {H. Remco} and Pascal Jonkheijm and Arturo Susarrey-Arce and Michiel Warl{\'e} and Khalil, {Islam S. M.}",

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doi = "10.1038/s44172-024-00215-2",

language = "English",

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Ligtenberg, L-J, Rabou, NCA, Goulas, C, Duinmeijer, W, Halfwerk, FR , Arens, J, Lomme, R, Magdanz, V, Klingner, A, Rot, EAMK, Nijland, CHE, Wasserberg, D , Liefers, HR, Jonkheijm, P, Susarrey-Arce, A, Warlé, M & Khalil, ISM 2024, 'Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting', Communications Engineering, vol. 3, 68. https://doi.org/10.1038/s44172-024-00215-2

TY - JOUR

T1 - Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting

AU - Ligtenberg, Leendert-Jan

AU - Rabou, Nicole C. A.

AU - Goulas, Constantinos

AU - Duinmeijer, Wytze

AU - Halfwerk, Frank R.

AU - Arens, Jutta

AU - Lomme, Roger

AU - Magdanz, Veronika

AU - Klingner, Anke

AU - Rot, Emily A. M. Klein

AU - Nijland, Colin H. E.

AU - Wasserberg, Dorothee

AU - Liefers, H. Remco

AU - Jonkheijm, Pascal

AU - Susarrey-Arce, Arturo

AU - Warlé, Michiel

AU - Khalil, Islam S. M.

PY - 2024/5/16

Y1 - 2024/5/16

N2 - Intravascular surgical instruments require precise navigation within narrow vessels, necessitating maximum flexibility, minimal diameter, and high degrees of freedom. Existing tools often lack control during insertion due to undesirable bending, limiting vessel accessibility and risking tissue damage. Next-generation instruments aim to develop hemocompatible untethered devices controlled by external magnetic forces. Achieving this goal remains complex due to testing and implementation challenges in clinical environments. Here we assess the operational effectiveness of hemocompatible untethered magnetic robots using an ex vivo porcine aorta model. The results demonstrate a linear decrease in the swimming speed of untethered magnetic robots as arterial blood flow increases, with the capability to navigate against a maximum arterial flow rate of 67 mL/min. The untethered magnetic robots effectively demonstrate locomotion in a difficult-to-access target site, navigating through the abdominal aorta and reaching the distal end of the renal artery.

AB - Intravascular surgical instruments require precise navigation within narrow vessels, necessitating maximum flexibility, minimal diameter, and high degrees of freedom. Existing tools often lack control during insertion due to undesirable bending, limiting vessel accessibility and risking tissue damage. Next-generation instruments aim to develop hemocompatible untethered devices controlled by external magnetic forces. Achieving this goal remains complex due to testing and implementation challenges in clinical environments. Here we assess the operational effectiveness of hemocompatible untethered magnetic robots using an ex vivo porcine aorta model. The results demonstrate a linear decrease in the swimming speed of untethered magnetic robots as arterial blood flow increases, with the capability to navigate against a maximum arterial flow rate of 67 mL/min. The untethered magnetic robots effectively demonstrate locomotion in a difficult-to-access target site, navigating through the abdominal aorta and reaching the distal end of the renal artery.

U2 - 10.1038/s44172-024-00215-2

DO - 10.1038/s44172-024-00215-2

M3 - Article

SN - 2731-3395

VL - 3

JO - Communications Engineering

JF - Communications Engineering

M1 - 68

ER -

Ex vivo validation of magnetically actuated intravascular untethered robots in a clinical setting

Abstract

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