Fast-Response Variable-Stiffness Magnetic Catheters for Minimally Invasive Surgery.
active cooling
continuum robot
magnetic navigation
medical robotics
shape memory polymer
soft robotics
variable stiffness
Journal
Advanced science (Weinheim, Baden-Wurttemberg, Germany)
ISSN: 2198-3844
Titre abrégé: Adv Sci (Weinh)
Pays: Germany
ID NLM: 101664569
Informations de publication
Date de publication:
15 Jan 2024
15 Jan 2024
Historique:
revised:
13
12
2023
received:
09
08
2023
medline:
16
1
2024
pubmed:
16
1
2024
entrez:
16
1
2024
Statut:
aheadofprint
Résumé
In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable-stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid states leads to a significant increase in procedure duration. Here, a fast-response, multisegmented catheter is described for minimally invasive surgery made of variable-stiffness thread (FRVST) that encapsulates a helical cooling channel. The rapid stiffness change in the FRVST, composed of a nontoxic shape memory polymer, is achieved by an active cooling system that pumps water through the helical channel. The FRVST displays a 66 times stiffness change and a 26 times transition enhancement compare with the noncooled version. The catheter allows for selective bending of each segment up to 127° in air and up to 76° in water under an 80 mT external magnetic field. The inner working channel can be used for cooling an ablation tip during a procedure and for information exchange via the deployment of wires or surgical tools.
Identifiants
pubmed: 38225742
doi: 10.1002/advs.202305537
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
e2305537Subventions
Organisme : nccr - on the move
ID : 200020B 185039
Organisme : Swiss Bridge Foundation
ID : 20B2-1 18086
Organisme : JSPS from Monbusho
ID : 21H00324
Informations de copyright
© 2024 The Authors. Advanced Science published by Wiley-VCH GmbH.
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