minimally invasive

minimally invasive

MRI-powered, Self-Assembled, Gauss Gun for Tissue Penetration

3h ago
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Video component of ICRA 2015 paper "Toward Tissue Penetration by MRI-powered Millirobots Using a Self-Assembled Gauss Gun". [Abstract] MRI-based navigation and propulsion of millirobots is a new and promising approach for minimally invasive therapies. The strong central field inside the scanner, however, precludes torque-based control. Consequently, prior propulsion techniques have been limited to gradient-based pulling through fluid-filled body lumens. This paper introduces a technique for generating large impulsive forces that can be used to penetrate tissue. The approach is based on navigating multiple robots to a desired location and using self-assembly to trigger the conversion of magnetic potential energy into sufficient kinetic energy to achieve penetration. The approach is illustrated through analytical modeling and experiments in a clinical MRI scanner. [Authors] Aaron T. Becker (ECE University of Houston), Ouajdi Felfoul, Pierre E. Dupont (Boston Children's Hospital and Harvard Medical School) Interactive tool for optimizing a Gauss gun: http://demonstrations.wolfram.com/OptimizingAGaussGun/ Video of our toy Gauss gun shattering light bulbs: https://youtu.be/nWyTd7dF0ys Paper nominated for "Best Medical Robotics Paper Award" and "Best Conference Paper Award" http://icra2015.org/conference/awards