Related papers: Flow-driven robotic navigation of microengineered …
Minimally invasive surgery is highly operator dependant with a lengthy procedural time causing fatigue to surgeon and risks to patients such as injury to organs, infection, bleeding, and complications of anesthesia. To mitigate such risks,…
The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safe and accurate navigation of a needle through living tissue to an intra-tissue target is…
Fluid-resistance limited transport of vesicles through narrow constrictions is a recurring theme in many biological and engineering applications. Inspired by the motor-driven movement of soft membrane-bound vesicles into closed neuronal…
Contactless manipulation of small objects is essential for biomedical and chemical applications, such as cell analysis, assisted fertilisation, and precision chemistry. Established methods, including optical, acoustic, and magnetic…
There has been a consistent growth in research involving imaging of microvasculature over the past few decades. By 2008, publications mentioning the microcirculation had grown more than 2000 per annum. Many techniques have been demonstrated…
Miniature robots are untethered actuators, which have significant potential to make existing minimally invasive surgery considerably safer and painless, and enable unprecedented treatments because they are much smaller and dexterous than…
Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation…
Microfluidic systems are now being designed with precision to execute increasingly complex tasks. However, their operation often requires numerous external control devices due to the typically linear nature of microscale flows, which has…
Magnetic navigation offers wireless control over magnetic objects, which has important medical applications, such as targeted drug delivery and minimally invasive surgery. Magnetic navigation systems are categorized into systems using…
Bulk rheological properties of viscoelastic fluids have been extensively studied in macroscopic shearing geometries. However, little is known when an active microscopic probe is used to locally perturb them far from the linear-response…
Medicine has taken a big jump in its advancement in the past few years. With the introduction of technology and the synthesis of personalized medicines, doctors have been successful in treating even the deadliest of the diseases. Though…
Microorganisms often encounter strong confinement and complex hydrodynamic flows while navigating their habitats. Combining finite-element methods and stochastic simulations, we study the interplay of active transport and heterogeneous…
Steerable needles are minimally invasive devices that enable novel medical procedures by following curved paths to avoid critical anatomical obstacles. Planning algorithms can be used to find a steerable needle motion plan to a target.…
We describe a microfluidic device for studying the orientational dynamics of microrods. The device enables us to experimentally investigate the tumbling of microrods immersed in the shear flow in a microfluidic channel with a depth of 400…
Purpose: Autonomous systems in mechanical thrombectomy (MT) hold promise for reducing procedure times, minimizing radiation exposure, and enhancing patient safety. However, current reinforcement learning (RL) methods only reach the carotid…
We study the dynamics of a model of membrane vesicle transport into dendritic spines, which are bulbous intracellular compartments in neurons driven by molecular motors. We reduce the lubrication model proposed in [Fai et al., Active…
Turbulent flow over permeable interface is omnipresent featuring complex flow topology. In this work, a data driven, end to end machine learning model has been developed to model the turbulent flow in porous media. For the same, we have…
Autonomous microrobots in blood vessels could enable minimally invasive therapies, but navigation is challenged by dense, moving obstacles. We propose a real-time path planning framework that couples an analytic geometry global planner…
Thrombotic and chronic occlusions of large blood vessels are a major cause of mortality and morbidity, and so there is a need for improved treatments in many clinical circumstances. Endovascular ultrasound approaches have been shown to hold…
Objects moving in fluids experience patterns of stress on their surfaces determined by the geometry of nearby boundaries. Flows at low Reynolds number, as occur in microscopic vessels such as capillaries in biological tissues, have…