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Magnetic Fluid-Driven Vine Robots for Minimally Invasive Tissue Biopsy Sampling
Joshua Davy1, Thomas P Dean1, Nikita J Greenidge1
1STORM Lab School of Electronic and Electrical Engineering University of Leeds Woodhouse Leeds LS2 9JT UK.
Summary
This study introduces a novel magnetic fluid-driven vine robot for precise, minimally invasive biopsies. The soft robot navigates complex anatomy and achieves controlled needle insertion, reducing patient discomfort and tissue damage.
Area of Science:
- Robotics
- Biomedical Engineering
- Materials Science
Background:
- Minimally invasive biopsy techniques are needed for improved accuracy and reduced patient trauma.
- Existing methods struggle with hard-to-reach anatomical areas and precise tissue sampling.
- Vine robots offer unique eversion capabilities for navigating complex environments with reduced friction.
Purpose of the Study:
- To develop and evaluate a novel magnetic fluid-driven vine robot for minimally invasive procedures.
- To demonstrate precise control, manipulation, and tissue penetration capabilities of the soft robotic system.
- To assess the robot's performance in navigating complex anatomical phantoms.
Main Methods:
- A novel vine robot design utilizing magnetic fluid for growth and steering via external magnetic fields.
- Integration of a high magnetic volume for precise control under pressure within a fully soft structure.
- Passive stabilization against surrounding walls combined with magnetic actuation for controlled needle insertion.
- Experimental validation using a 5 mm diameter, 145 mm long robot in free space, constrictions, and bronchial phantoms.
Main Results:
- The magnetic fluid-driven vine robot demonstrated controlled movement and navigation through narrow constrictions.
- The system achieved passive stabilization and exerted up to 1.26 N of insertion force for tissue penetration.
- Successful navigation and functionality were shown within phantoms simulating human bronchial anatomy.
- The soft robotic structure maintained precise control and needle movement capabilities.
Conclusions:
- The developed magnetic fluid-driven vine robot shows significant potential for minimally invasive surgery.
- Its precise control, navigation in complex spaces, and tissue penetration capabilities address key challenges in current biopsy techniques.
- This technology could enable safer and more effective procedures in difficult-to-access regions of the body.
