Stimuli-responsive soft untethered grippers for drug delivery and robotic surgery

Arijit Ghosh, ChangKyu Yoon, F. Ongaro, Stefano Scheggi, Florin M Selaru, Sarthak Misra, David H. Gracias

Research output: Contribution to journalReview articleAcademicpeer-review

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Abstract

Untethered microtools that can be precisely navigated into deep in vivo locations are important for clinical procedures pertinent to minimally invasive surgery and targeted drug delivery. In this mini-review, untethered soft grippers are discussed, with an emphasis on a class of autonomous stimuli-responsive gripping soft tools that can be used to excise tissues and release drugs in a controlled manner. The grippers are composed of polymers and hydrogels and are thus compliant to soft tissues. They can be navigated using magnetic fields and controlled by robotic path-planning strategies to carry out tasks like pick-and-place of microspheres and biological materials either with user assistance, or in a fully autonomous manner. It is envisioned that the use of these untethered soft grippers will translate from laboratory experiments to clinical scenarios and the challenges that need to be overcome to make this transition are discussed.
Original languageEnglish
Article number7
JournalFrontiers in Mechanical Engineering
Volume3
DOIs
Publication statusPublished - 26 Jul 2017

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Robotics
Hydrogels
Minimally Invasive Surgical Procedures
Magnetic Fields
Microspheres
Pharmaceutical Preparations
Polymers
Drug Liberation

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Ghosh, Arijit ; Yoon, ChangKyu ; Ongaro, F. ; Scheggi, Stefano ; Selaru, Florin M ; Misra, Sarthak ; Gracias, David H. / Stimuli-responsive soft untethered grippers for drug delivery and robotic surgery. In: Frontiers in Mechanical Engineering. 2017 ; Vol. 3.
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Stimuli-responsive soft untethered grippers for drug delivery and robotic surgery. / Ghosh, Arijit; Yoon, ChangKyu; Ongaro, F.; Scheggi, Stefano; Selaru, Florin M; Misra, Sarthak; Gracias, David H.

In: Frontiers in Mechanical Engineering, Vol. 3, 7, 26.07.2017.

Research output: Contribution to journalReview articleAcademicpeer-review

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