biostudies-literatureErin ONational Eye InstituteNEI NIH HHSNIBIB NIH HHSNational Institute of Biomedical Imaging and Bioengineering2200072https://www.ebi.ac.uk/biostudies/studies/S-EPMC9364690biostudies-literatureUnknown4(6)The field of magnetic robotics aims to obviate physical connections between the actuators and end-effectors. Such tetherless control may enable new ultra-minimally invasive surgical manipulations in clinical settings. While wireless actuation offers advantages in medical applications, the challenge of providing sufficient force to magnetic needles for tissue penetration remains a barrier to practical application. Applying sufficient force for tissue penetration is required for tasks such as biopsy, suturing, cutting, drug delivery, and accessing deep seated regions of complex structures in organs such as the eye. To expand the force landscape for such magnetic surgical tools, an impact-force based suture needle capable of penetrating <i>in vitro</i> and <i>ex vivo</i> samples with 3-DOF planar motion is proposed. Using custom-built 14G and 25G needles, we demonstrate generation of 410 mN penetration force, a 22.7-fold force increase with more than 20 times smaller volume compared to similar magnetically guided needles. With the MPACT-Needle, <i>in vitro</i> suturing of a gauze mesh onto an agar gel is demonstrated. In addition, we have reduced the tip size to 25G, which is a typical needle size for interventions in the eye, to demonstrate <i>ex vivo</i> penetration in a rabbit eye, mimicking procedures such as corneal injections and transscleral drug delivery.Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)Overcoming the Force Limitations of Magnetic Robotic Surgery: Magnetic Pulse Actuated Collisions for Tissue-Penetrating-Needle for Tetherless Interventions.PMC9364690R01 EB020610R01EY032127R01 EY032127R01EB020610Liu XOpfermann JErin OMair LOKrieger ADiaz-Mercado YGe JBarnoy YKang JUWeinberg INGensheimer WfalseOvercoming the Force Limitations of Magnetic Robotic Surgery: Magnetic Pulse Actuated Collisions for Tissue-Penetrating-Needle for Tetherless Interventions.The field of magnetic robotics aims to obviate physical connections between the actuators and end-effectors. Such tetherless control may enable new ultra-minimally invasive surgical manipulations in clinical settings. While wireless actuation offers advantages in medical applications, the challenge of providing sufficient force to magnetic needles for tissue penetration remains a barrier to practical application. Applying sufficient force for tissue penetration is required for tasks such as biopsy, suturing, cutting, drug delivery, and accessing deep seated regions of complex structures in organs such as the eye. To expand the force landscape for such magnetic surgical tools, an impact-force based suture needle capable of penetrating <i>in vitro</i> and <i>ex vivo</i> samples with 3-DOF planar motion is proposed. Using custom-built 14G and 25G needles, we demonstrate generation of 410 mN penetration force, a 22.7-fold force increase with more than 20 times smaller volume compared to similar magnetically guided needles. With the MPACT-Needle, <i>in vitro</i> suturing of a gauze mesh onto an agar gel is demonstrated. In addition, we have reduced the tip size to 25G, which is a typical needle size for interventions in the eye, to demonstrate <i>ex vivo</i> penetration in a rabbit eye, mimicking procedures such as corneal injections and transscleral drug delivery.2022-01-01T00:00:00Z2022 Jun2024-11-12T19:31:13.799Z2024-11-12T19:31:13.799ZS-EPMC93646903596759810.1002/aisy.202200072