Magnetic soft robots have recently become a promising technology that has been applied to minimally invasive cardiovascular surgery. This paper presents the analytical modeling of a novel multi-section magnetic soft robot (MS-MSR) with multi-curvature bending, which is maneuvered by an associated collaborative multirobot navigation system (CMNS) with magnetic actuation and ultrasound guidance targeted for intravascular intervention. The kinematic and dynamic analysis of the MS-MSR's telescopic motion is performed using the optimized Cosserat rod model by considering the effect of an external heterogeneous magnetic field, which is generated by a mobile magnetic actuation manipulator to adapt to complex steering scenarios. Meanwhile, an extracorporeal mobile ultrasound navigation manipulator is exploited to track the magnetic soft robot's distal tip motion to realize a closed-loop control. We also conduct a quadratic programming-based optimization scheme to synchronize the multi-objective task-space motion of CMNS with null-space projection. It allows the formulation of a comprehensive controller with motion priority for multirobot collaboration. Experimental results demonstrate that the proposed magnetic soft robot can be successfully navigated within the multi-bifurcation intravascular environment with a shape modeling error and a tip error of under the actuation of a CMNS through in vitro ultrasound-guided vasculature interventional tests.
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http://dx.doi.org/10.34133/cbsystems.0188 | DOI Listing |
Front Oncol
December 2024
Department of Radiology, The Affiliated Hospital of Qingdao University, Qingdao, Shandong, China.
Background: Accurate identification of pathologic grade before operation is helpful for guiding clinical treatment decisions and improving the prognosis for soft tissue sarcoma (STS).
Purpose: To construct and assess a magnetic resonance imaging (MRI)-based radiomics nomogram incorporating intratumoral habitats (subregions of clusters of voxels containing similar features) and peritumoral features for the preoperative prediction of the pathological grade of STS.
Methods: The MRI data of 145 patients with STS (74 low-grade and 71 high-grade) from 4 hospitals were retrospectively collected, including enhanced T1-weighted and fat-suppressed-T2-weighted sequences.
J Colloid Interface Sci
December 2024
East Bavarian Centre for Intelligent Materials (EBACIM), Ostbayerische Technische Hochschule Regensburg, Seybothstr. 2, Regensburg, 93053, Germany.
Hypothesis: The presence of a wetting ridge is crucial for many wetting phenomena on soft substrates. Conventional experimental observations of a wetting ridge require permanent presence of a droplet. The magnetic field-induced plasticity effect (FIPE) of soft magnetoative elastomers (MAEs) allows one to overcome this limitation.
View Article and Find Full Text PDFJBJS Essent Surg Tech
December 2024
Department of Orthopaedics and Rehabilitation, Yale School of Medicine, New Haven, Connecticut.
Background: For complete disruption of the posterolateral corner (PLC) structures, operative treatment is most commonly advocated, as nonoperative treatment has higher rates of persistent lateral laxity and posttraumatic arthritis. Some studies have shown that acute direct repair results in revision rates upwards of 37% to 40% compared with 6% to 9% for initial reconstruction. In a recent study assessing the outcomes of acute repair of PLC avulsion injuries with 2 to 7 years of follow-up, patients with adequate tissue were shown to have a much lower failure rate than previously documented.
View Article and Find Full Text PDFComput Biol Med
December 2024
Department of Mathematics, Capital University of Science and Technology, Islamabad, 44000, Pakistan.
The dynamic behavior of articular cartilage (a soft porous biological tissue) with strain-dependent nonlinear permeability under cyclic compressive loading and magnetic field is investigated computationally. The compressive force is applied on top surface of the cylindrical plug of the tissue by means of a porous filter. The study of mechanical and deformational behavior of soft porous tissues such as articular cartilage under dynamic compressive loading and magnetic field is useful in understanding the underlying mechano-biological process that may lead to the development of a treatment and recovery protocol in a diseased state.
View Article and Find Full Text PDFAnn Surg Oncol
December 2024
Soft Tissue Sarcoma Surgery, Fondazione Policlinico Universitario Campus Bio-Medico, Rome, Italy.
Spermatic cord sarcomas (SCS) are a group of mesenchymal tumors whose rarity and anatomical location often lead to clinical misdiagnosis such as inguinal hernia, testicular tumor, or other conditions. Any inguinoscrotal mass with suspicious characteristics should prompt clinicians to perform imaging assessments (such as ultrasound or, in uncertain cases, magnetic resonance imaging (MRI)) and refer the patient promptly to a specialized center. Histological characterization of all suspicious masses via percutaneous biopsy is recommended, with staging completed through computed tomography (CT) scan for confirmed cases.
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