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

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

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