Robot-Assisted Flexible Needle Steering for Targeted Delivery of Magnetic Agents

Project Information

ROBOTAR

Grant agreement ID: 638428

DOI 10.3030/638428

Project closed

EC signature date 16 February 2015

Start date 1 June 2015

End date 30 November 2020

Funded under

• EXCELLENT SCIENCE - European Research Council (ERC)

Total cost € 1 500 000,00

EU contribution € 1 500 000,00

Coordinated by

UNIVERSITEIT TWENTE
Netherlands

Publications

Peer reviewed articles (18)

PneuAct-II: Hybrid Manufactured Electromagnetically Stealth Pneumatic Stepper Actuator

Author(s): Foad Sojoodi Farimani, Morteza Mojarradi, Edsko Hekman, Sarthak Misra
Published in: IEEE Robotics and Automation Letters, Issue 5/2, 2020, Page(s) 3588-3593, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2020.2974652

Hybrid control algorithm for flexible needle steering: Demonstration in phantom and human cadaver

Author(s): Navid Shahriari, Janniko R. Georgiadis, Matthijs Oudkerk, Sarthak Misra
Published in: PLOS ONE, Issue 13/12, 2018, Page(s) e0210052, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0210052

Force characterization and analysis of thin film actuators for untethered microdevices

Author(s): Federico Ongaro, Qianru Jin, Ugo Siciliani de Cumis, Arijit Ghosh, Alper Denasi, David H. Gracias, Sarthak Misra
Published in: AIP Advances, Issue 9/5, 2019, Page(s) 055011, ISSN 2158-3226
Publisher: American Institute of Physics Inc.
DOI: 10.1063/1.5088779

Tandem actuation of legged locomotion and grasping manipulation in soft robots using magnetic fields

Author(s): Venkatasubramanian Kalpathy Venkiteswaran, Danica Kristina Tan, Sarthak Misra
Published in: Extreme Mechanics Letters, Issue 41, 2020, Page(s) 101023, ISSN 2352-4316
Publisher: Elsevier Limited
DOI: 10.1016/j.eml.2020.101023

Magnetic localization and control of helical robots for clearing superficial blood clots

Author(s): Islam S. M. Khalil, Alaa Adel, Dalia Mahdy, Mina M. Micheal, Mohanad Mansour, Nabila Hamdi, Sarthak Misra
Published in: APL Bioengineering, Issue 3/2, 2019, Page(s) 026104, ISSN 2473-2877
Publisher: American Institute of Physics (AIP)
DOI: 10.1063/1.5090872

A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

Author(s): Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, G. K. Ananthasuresh, Sarthak Misra
Published in: Journal of Mechanisms and Robotics, Issue 12/6, 2020, ISSN 1942-4302
Publisher: American Society of Mechanical Engineers
DOI: 10.1115/1.4046838

Vision-Based 3-D Control of Magnetically Actuated Catheter Using BigMag—An Array of Mobile Electromagnetic Coils

Author(s): Jakub Sikorski, Alper Denasi, Giuseppe Bucchi, Stefano Scheggi, Sarthak Misra
Published in: IEEE/ASME Transactions on Mechatronics, Issue 24/2, 2019, Page(s) 505-516, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2019.2893166

The ARMM System: An Optimized Mobile Electromagnetic Coil for Non-Linear Actuation of Flexible Surgical Instruments

Author(s): Jakub Sikorski, Christoff M. Heunis, Federico Franco, Sarthak Misra
Published in: IEEE Transactions on Magnetics, Issue 55/9, 2019, Page(s) 1-9, ISSN 0018-9464
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmag.2019.2917370

Water Jet Actuation for Ultra-low Cost Endoscopy: Characterization of Miniature Nozzles Fabricated by Rapid Prototyping

Author(s): F. Campisano, F. Gramuglia, I.R. Dawson, K.L. Obstein, S. Misra, E. De Momi, P. Valdastri
Published in: Procedia Engineering, Issue 168, 2016, Page(s) 388-391, ISSN 1877-7058
Publisher: IEEE Robotics and Automation Society
DOI: 10.1016/j.proeng.2016.11.147

Haptic Feedback for Microrobotics Applications: A Review

Author(s): Claudio Pacchierotti, Stefano Scheggi, Domenico Prattichizzo, Sarthak Misra
Published in: Frontiers in Robotics and AI, Issue 3, 2016, ISSN 2296-9144
Publisher: Frontiers Media S.A
DOI: 10.3389/frobt.2016.00053

Stimuli-Responsive Soft Untethered Grippers for Drug Delivery and Robotic Surgery

Author(s): Arijit Ghosh, ChangKyu Yoon, Federico Ongaro, Stefano Scheggi, Florin M. Selaru, Sarthak Misra, David H. Gracias
Published in: Frontiers in Mechanical Engineering, Issue 3, 2017, ISSN 2297-3079
Publisher: Frontiers Media S.A
DOI: 10.3389/fmech.2017.00007

Design, characterization and control of thermally-responsive and magnetically-actuated micro-grippers at the air-water interface

Author(s): Federico Ongaro, Stefano Scheggi, Arijit Ghosh, Alper Denasi, David H. Gracias, Sarthak Misra
Published in: PLOS ONE, Issue 12/12, 2017, Page(s) e0187441, ISSN 1932-6203
Publisher: Public Library of Science
DOI: 10.1371/journal.pone.0187441

Flexible Needle Steering in Moving Biological Tissue With Motion Compensation Using Ultrasound and Force Feedback

Author(s): Jason Chevrie, Navid Shahriari, Marie Babel, Alexandre Krupa, Sarthak Misra
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2338-2345, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2809484

Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance

Author(s): Claudio Pacchierotti, Federico Ongaro, Frank van den Brink, ChangKyu Yoon, Domenico Prattichizzo, David H. Gracias, Sarthak Misra
Published in: IEEE Transactions on Automation Science and Engineering, 2017, Page(s) 1-17, ISSN 1545-5955
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TASE.2016.2635106

Autonomous planning and control of soft untethered grippers in unstructured environments

Author(s): Federico Ongaro, Stefano Scheggi, ChangKyu Yoon, Frank van den Brink, Seung Hyun Oh, David H. Gracias, Sarthak Misra
Published in: Journal of Micro-Bio Robotics, 2016, ISSN 2194-6418
Publisher: Springer Science + Business Media
DOI: 10.1007/s12213-016-0091-1

Precise Model-Free Spline-Based Approach for Magnetic Field Mapping

Author(s): Federico Ongaro, Christoff Marthinus Heunis, Sarthak Misra
Published in: IEEE Magnetics Letters, Issue 10, 2019, Page(s) 1-5, ISSN 1949-307X
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/lmag.2018.2882506

A Contactless and Biocompatible Approach for 3D Active Microrobotic Targeted Drug Delivery

Author(s): Federico Ongaro, Dennis Niehoff, Sumit Mohanty, Sarthak Misra
Published in: Micromachines, Issue 10/8, 2019, Page(s) 504, ISSN 2072-666X
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/mi10080504

Modeling of Spermbots in a Viscous Colloidal Suspension

Author(s): Islam S. M. Khalil, Anke Klingner, Veronika Magdanz, Friedrich Striggow, Mariana Medina‐Sánchez, Oliver G. Schmidt, Sarthak Misra
Published in: Advanced Theory and Simulations, Issue 2/8, 2019, Page(s) 1900072, ISSN 2513-0390
Publisher: WILEY‐VCH Verlag GmbH & Co. KGaA
DOI: 10.1002/adts.201900072

Conference proceedings (9)

Magnetic motion control and planning of untethered soft grippers using ultrasound image feedback

Author(s): Stefano Scheggi, Krishna Kumar T. Chandrasekar, ChangKyu Yoon, Ben Sawaryn, Gert van de Steeg, David H. Gracias, Sarthak Misra
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 6156-6161, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989730

Modeling and validation of a low-cost soft-tethered endoscopic platform

Author(s): Dawson, I.R.; Campisano, F.; Gramuglia, F.; Obstein, K.L.; Hekman, Edsko E.G.; Sikorski, Jakub; Misra, Sarthak; Valdastri, P.
Published in: "Hamlyn symposium ""New challenges and emerging platforms""", Issue 2, 2016
Publisher: Hamlyn

Control of untethered soft grippers for pick-and-place tasks

Author(s): Federico Ongaro, ChangKyu Yoon, Frank van den Brink, Momen Abayazid, Seung Hyun Oh, David H. Gracias, Sarthak Misra
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 299-304, ISBN 978-1-5090-3287-7
Publisher: IEEE
DOI: 10.1109/BIOROB.2016.7523642

Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances

Author(s): Federico Ongaro, Claudio Pacchierotti, ChangKyu Yoon, Domenico Prattichizzo, David H. Gracias, Sarthak Misra
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 900-905, ISBN 978-1-5090-3287-7
Publisher: IEEE
DOI: 10.1109/BIOROB.2016.7523742

A robust controller for micro-sized agents: The prescribed performance approach

Author(s): Alper Denasi, Sarthak Misra
Published in: 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2016, Page(s) 1-6, ISBN 978-1-5090-1510-8
Publisher: IEEE
DOI: 10.1109/MARSS.2016.7561711

Closed-loop control of a magnetically-actuated catheter using two-dimensional ultrasound images

Author(s): Klaas Jelmer Boskma, Stefano Scheggi, Sarthak Misra
Published in: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, Page(s) 61-66, ISBN 978-1-5090-3287-7
Publisher: IEEE
DOI: 10.1109/BIOROB.2016.7523599

Model-based tracking of miniaturized grippers using Particle Swarm Optimization

Author(s): Stefano Scheggi, ChangKyu Yoon, David H. Gracias, Sarthak Misra
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 454-459, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/IROS.2016.7759093

An experimental comparison of path planning techniques applied to micro-sized magnetic agents

Author(s): Stefano Scheggi, Sarthak Misra
Published in: 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2016, Page(s) 1-6, ISBN 978-1-5090-1510-8
Publisher: IEEE
DOI: 10.1109/MARSS.2016.7561695

Modeling and validation of a low-cost soft-tethered endoscopic platform

Author(s): Dawson, I.R.; Campisano, F.; Gramuglia, F.; Obstein, K.L.; Hekman, Edsko E.G.; Sikorski, Jakub; Misra, Sarthak; Valdastri, P.
Published in: ISSUE=9;TITLE=9th Hamlyn Symposium on Medical Robotics 2016, Issue 21, 2016
Publisher: Imperial College London and Royal Geographical Society