Magnetic soft microfiberbots for robotic embolization.

Journal: Science robotics
PMID: 38381840

Abstract

Cerebral aneurysms and brain tumors are leading life-threatening diseases worldwide. By deliberately occluding the target lesion to reduce the blood supply, embolization has been widely used clinically to treat cerebral aneurysms and brain tumors. Conventional embolization is usually performed by threading a catheter through blood vessels to the target lesion, which is often limited by the poor steerability of the catheter in complex neurovascular networks, especially in submillimeter regions. Here, we propose magnetic soft microfiberbots with high steerability, reliable maneuverability, and multimodal shape reconfigurability to perform robotic embolization in submillimeter regions via a remote, untethered, and magnetically controllable manner. Magnetic soft microfiberbots were fabricated by thermal drawing magnetic soft composite into microfibers, followed by magnetizing and molding procedures to endow a helical magnetic polarity. By controlling magnetic fields, magnetic soft microfiberbots exhibit reversible elongated/aggregated shape morphing and helical propulsion in flow conditions, allowing for controllable navigation through complex vasculature and robotic embolization in submillimeter regions. We performed in vitro embolization of aneurysm and tumor in neurovascular phantoms and in vivo embolization of a rabbit femoral artery model under real-time fluoroscopy. These studies demonstrate the potential clinical value of our work, paving the way for a robotic embolization scheme in robotic settings.

Authors

  • Xurui Liu
    School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
  • Liu Wang
    CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Modern Mechanics, University of Science and Technology of China, Hefei, Anhui, China. liuwang@mit.edu.
  • Yuanzhuo Xiang
    Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China.
  • Fan Liao
    School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China.
  • Na Li
    School of Nursing, Fujian University of Traditional Chinese Medicine, Fuzhou, China.
  • Jiyu Li
    Shanghai Tenth People's Hospital, Shanghai, China.
  • Jiaxin Wang
    Faculty of Engineering, University of Toyama, Toyama-Shi 930-8555, Japan.
  • Qingyang Wu
    School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
  • Cheng Zhou
    Department of Radiology, The Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou, China; Joint Laboratory of Clinical Radiology, the Second Affiliated Hospital, Zhejiang University School of Medicine, Hangzhou, China.
  • Youzhou Yang
    School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
  • Yuanshi Kou
    School of Integrated Circuits, Huazhong University of Science and Technology, Wuhan 430074, China.
  • Yueying Yang
    School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
  • Hanchuan Tang
    School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, China.
  • Ning Zhou
    Department of General Surgery, Wuxi People's Hospital Affiliated to Nanjing Medical University, Wuxi, China.
  • Chidan Wan
    Department of Hepatobiliary Surgery, Union Hospital, Tongji Medical College, Huazhong University of Science and Technology, Wuhan, 430022, China. wcdwhxh@163.com.
  • Zhouping Yin
    School of Mathematics and Physics, Anqing Normal University, Anqing 246133, China.
  • Guang-Zhong Yang
    Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China. dgunning@fb.com gzyang@sjtu.edu.cn.
  • Guangming Tao
    Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan, Hubei, 430074, P. R. China.
  • Jianfeng Zang
    School of Optical and Electronic Information and Wuhan National Laboratory for Optoelectronics, Huazhong University of Science and Technology, Wuhan 430074, China.

Keywords

External Resources

Popular Topics
Recent Journals