Grasping Using Magnetically-Actuated Tentacle Catheter: A Proof-of-Concept Study

Jakub Sikorski, Etienne S.A.A.M. Rutting, Sarthak Misra

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    Abstract

    The use of magnetically-actuated catheters has the potential to facilitate minimally-invasive surgical procedures. In this work we present a magnetically-actuated tentacle catheter for object manipulation in remote areas of human body. The catheter employs a bio-inspired technique of under-actuated grasping. The whole body of the catheter loops around the target object, providing form closure necessary for manipulation. The catheter employs a permanent magnet to steer the position of its tip, and an electromagnetic coil to strengthen the maximum force applicable to the target object. We test the catheter in a series of proof-of-concept experiments. In a thermal study, we show that within the operational conditions, the heat dissipated by the coil allows for safe operation of tentacle catheter within human body. Subsequently, we characterise the maximum force available for manipulation using force sensor. The tentacle catheter can apply forces up to 0.1 N, which is in accordance with finite-element simulation. This force is sufficient for object manipulation in surgical tasks, such as biopsy. Finally, we demonstrate the operation of the tentacle catheter in a task involving manipulation of porcine tissue.

    Original languageEnglish
    Title of host publicationBIOROB 2018
    Subtitle of host publication7th IEEE International Conference on Biomedical Robotics and Biomechatronics
    Place of PublicationPiscataway, NJ
    PublisherIEEE Computer Society
    Pages609-614
    Number of pages6
    ISBN (Electronic)978-1-5386-8183-1
    ISBN (Print)978-1-5386-8184-8
    DOIs
    Publication statusPublished - 9 Oct 2018
    Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    : High Tech Human Touch
    - University Campus, Enschede, Netherlands
    Duration: 26 Aug 201829 Aug 2018
    Conference number: 7
    https://www.biorob2018.org/

    Conference

    Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    Abbreviated titleBioRob
    CountryNetherlands
    CityEnschede
    Period26/08/1829/08/18
    Internet address

    Fingerprint

    Catheters
    Biopsy
    Permanent magnets
    Tissue
    Sensors

    Keywords

    • Catheters
    • Electromagnetics
    • Force
    • Permanent magnets
    • Task analysis
    • Electron tubes
    • Grasping

    Cite this

    Sikorski, J., Rutting, E. S. A. A. M., & Misra, S. (2018). Grasping Using Magnetically-Actuated Tentacle Catheter: A Proof-of-Concept Study. In BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (pp. 609-614). [8487212] Piscataway, NJ: IEEE Computer Society. https://doi.org/10.1109/BIOROB.2018.8487212
    Sikorski, Jakub ; Rutting, Etienne S.A.A.M. ; Misra, Sarthak. / Grasping Using Magnetically-Actuated Tentacle Catheter : A Proof-of-Concept Study. BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ : IEEE Computer Society, 2018. pp. 609-614
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    author = "Jakub Sikorski and Rutting, {Etienne S.A.A.M.} and Sarthak Misra",
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    Sikorski, J, Rutting, ESAAM & Misra, S 2018, Grasping Using Magnetically-Actuated Tentacle Catheter: A Proof-of-Concept Study. in BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics., 8487212, IEEE Computer Society, Piscataway, NJ, pp. 609-614, 7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
    , Enschede, Netherlands, 26/08/18. https://doi.org/10.1109/BIOROB.2018.8487212

    Grasping Using Magnetically-Actuated Tentacle Catheter : A Proof-of-Concept Study. / Sikorski, Jakub; Rutting, Etienne S.A.A.M.; Misra, Sarthak.

    BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ : IEEE Computer Society, 2018. p. 609-614 8487212.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    AB - The use of magnetically-actuated catheters has the potential to facilitate minimally-invasive surgical procedures. In this work we present a magnetically-actuated tentacle catheter for object manipulation in remote areas of human body. The catheter employs a bio-inspired technique of under-actuated grasping. The whole body of the catheter loops around the target object, providing form closure necessary for manipulation. The catheter employs a permanent magnet to steer the position of its tip, and an electromagnetic coil to strengthen the maximum force applicable to the target object. We test the catheter in a series of proof-of-concept experiments. In a thermal study, we show that within the operational conditions, the heat dissipated by the coil allows for safe operation of tentacle catheter within human body. Subsequently, we characterise the maximum force available for manipulation using force sensor. The tentacle catheter can apply forces up to 0.1 N, which is in accordance with finite-element simulation. This force is sufficient for object manipulation in surgical tasks, such as biopsy. Finally, we demonstrate the operation of the tentacle catheter in a task involving manipulation of porcine tissue.

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    Sikorski J, Rutting ESAAM, Misra S. Grasping Using Magnetically-Actuated Tentacle Catheter: A Proof-of-Concept Study. In BIOROB 2018: 7th IEEE International Conference on Biomedical Robotics and Biomechatronics. Piscataway, NJ: IEEE Computer Society. 2018. p. 609-614. 8487212 https://doi.org/10.1109/BIOROB.2018.8487212