Soft Electromagnetic Motor and Soft Magnetic Sensors for Synchronous Rotary Motion

To create fully-soft robots, fully-soft actuators are needed. Currently, soft rotary actuator topologies described in the literature exhibit low rotational speeds, which limit their applicability. In this work, we describe a novel, fully-soft synchronous rotary electromagnetic actuator and soft magnetic contact switch sensor concept. In this study, the actuator is constructed using gallium indium liquid metal conductors, compliant permanent magnetic composites, carbon black powders, and flexible polymers. The actuator also operates using low voltages (<20 V, ≤10 A), has a bandwidth of 10 Hz, a stall torque of 2.5-3 mN·m, and no-load speed of up to 4000 rpm. These values show that the actuator rotates at over two orders-of-magnitude higher speed with at least one order-of-magnitude higher output power than previously developed soft rotary actuators. This unique soft rotary motor is operated in a manner similar to traditional hard motors, but is also able to stretch and deform to enable new soft robot functions. To demonstrate fully-soft actuator application concepts, the motor is incorporated into a fully-soft air blower, fully-soft underwater propulsion system, fully-soft water pump, and squeeze-based sensor for a fully-soft fan. Hybrid hard and soft applications were also tested, including a geared robotic car, pneumatic actuator, and hydraulic pump. Overall, this work demonstrates how the fully-soft rotary electromagnetic actuator can bridge the gap between the capabilities of traditional hard motors and novel soft actuator concepts.

Measurement of Blood Dilution during Lancet-Free Blood Sampling

In this paper, we report on a fluorescent and colorimetric system for measuring the dilution of capillary blood released by a needle-free jet injector. Jet injection uses a high-speed liquid jet to penetrate tissue, and in the process can release capillary blood that can be collected for performing blood tests. In this way, blood sampling can be performed without the use of a lancet. However, any injectate that mixes with the collected blood dilutes the sample and may significantly impact subsequent analyses. By adding the fluorescent marker indocyanine green to the injected liquid, the fraction of injectate mixed into the collected blood can be measured. The incorporation of colorimetry allows our system to also correct for the impact of hematocrit on fluorescence. The results from this system show that it can determine the dilution of blood that has been diluted by up to 10 %, the upper limit of dilution typically observed in lancet-free blood sampling via jet injection.Clinical Relevance- Blood samples can be collected by jet injection without significant dilution, avoiding the need for lancing.

Investigating the use of local nerve blocks and general anaesthesia in reducing pain during and after disbudding procedure in goat kids

The aim of this study was to compare the pain responses (as measured by noise and movement) during administration of local anaesthetic and during and after disbudding in goat kids. Eighty, seven- to ten-day-old, Saanen goat kids from one farm were enrolled and randomly assigned to one of four different methods of pain relief. Twenty kids had local anaesthetic (LA) applied at two sites per horn bud (LA group), 20 kids had LA applied to the two locations using a jet injector (JI group) and 20 kids were given a general anaesthetic (GA) using a combination of 0.02 mg/kg medetomidine and 2 mg/kg ketamine followed by a horn bud block applied as per the LA group (GA group). The remaining 20 kids had no treatment other than meloxicam (control group). Although responses between goat kids and at different time periods were variable, in comparison to the control group, GA eliminated the responses associated with injection of lignocaine and the responses during the period of disbudding, and provided a reduction in head scratches and shakes across multiple time periods.

Jet-Induced Blood Release From Human Fingertips: A Single-Blind, Randomized, Crossover Trial

BACKGROUND

Lancet pricks are often poorly received by individuals with diabetes; jet injection may allow lancet-free blood sampling. We examine whether the technique of jet injection can release sufficient blood from the fingertip to enable measurement of blood glucose concentration. In addition, we assess the effect of jet shape and cross-sectional area on fluid release, blood dilution, and perceived pain.

METHODS

A randomized, single-blind, crossover study was conducted on 20 healthy volunteers who received interventions on four fingertips: a lancet prick, and jet injection of a small quantity of saline solution through three differently shaped and sized nozzles. Released fluid volume, blood concentration, and glucose concentration were assessed immediately after the intervention. Pain perception and duration, and any skin reactions, were evaluated both immediately and 24 hours after the intervention.

RESULTS

Jet injection released sufficient blood from the fingertip to conduct a glucose measurement. A slot-shaped nozzle released the most blood, although less than a lancet, with slightly higher pain. The blood glucose levels estimated from the extracted fluid showed a mean absolute percentage error of 25%. There was no consistent evidence that a jet injection leads to different skin reactions at the intervention site relative to a lancet prick.

CONCLUSIONS

Fingertip penetration by jet injection can release a volume of fluid sufficient for blood glucose measurement. Jet injection with a slot-shaped nozzle and/or a nozzle with larger outlet area helps to release more fluid. This technique may enable blood sampling, glucose concentration measurement, and insulin delivery to be performed in a single device.

Minimally invasive capillary blood sampling methods

INTRODUCTION

Whole blood samples, including arterial, venous, and capillary blood, are regularly used for disease diagnosis and monitoring. The global Covid-19 pandemic has highlighted the need for a more resilient screening capacity. Minimally invasive sampling techniques, such as capillary blood sampling, are routinely used for point of care testing in the home healthcare setting and clinical settings such as the Intensive Care Unit with less pain and wounding than conventional venepuncture.

AREAS COVERED

In this manuscript, we aim to provide a overview of state-of-the-art of techniques for obtaining samples of capillary blood. We first review both established and novel methods for releasing blood from capillaries in the skin. Next, we provide a comparison of different capillary blood sampling methods based on their mechanism, testing site, puncture size, cost, wound geometry, healing, and perceptions of pain. Finally, we overview established and new methods for enhancing capillary blood collection.

EXPERT OPINION

We expect that microneedles will prove to be a preferred option for paediatric blood collection. The ability of microneedles to collect a capillary blood sample without pain will improve paediatric healthcare outcomes. Jet injection may prove to be a useful method for facilitating both blood collection and drug delivery.

Comparison of Three Anaesthetic Options to Reduce Acute Pain Response in Kid Goats

Three options for anesthetizing the skin around the horn bud of dairy goat kids were explored. Forty-five <10-day-old Saanen goat kids from were randomly split into five treatment groups (topical anesthetic cream (TA), vapocoolant spray (VS), local anesthetic applied by jet injector (JI), control - no treatment but painful stimulus applied (C), sham - no treatment and touching sites with a finger. The painful stimulus was multiple needle pricks on the skin around the horn bud. The outcome variables measured were heart rate movement, and vocalization during treatment application and administration of a painful stimulus around the horn bud. Heart rates were greater during application of a VS compared to TA.Neither the TA nor the VS appeared to have any effect on the response to the painful stimulus. Kids in the JI group had a 96% reduced odds of expressing a marked pain response in comparison to TA group and an 83% reduction in the odds of a high movement grade during a painful procedure in comparison to the combined results of the other three treatment groups.

Jet-induced Tissue Disruption for Blood Release

OBJECTIVE

Needle free jet injection is a drug delivery technique that uses the momentum of the fluid drug to break through the skin. This technique has recently also been applied to blood release, aiming to collect samples from capillaries in the skin without needing a lancet prick. This work provides new information about the wound geometry and tissue disruption caused by shallow jet injection with circular shaped and slot shaped jets.

METHODS

We use histological analysis to compare the disruption of tissue, including blood vessels, caused by lancet-pricking and jet injection with a circular shaped jet and a lancet-inspired slot shaped jet.

RESULTS

Intradermal injection into porcine skin using a slot shaped jet disrupted more vascular endothelium in the tissue than a circular shaped jet and did so at a smaller penetration depth with smaller wound volume. Our results suggest that shallow jet injections may have the potential to release more capillary blood than a lancet prick.

CONCLUSION

These findings demonstrate that a reversible jet injector might be used in diabetes management as a device to release and collect blood samples, in addition to being used to deliver insulin.

SIGNIFICANCE

Tissue disruption is crucial to consider when using jet injection to deliver drug and release capillary blood.

System Identification to Characterise Shoulder Joint Dynamics in Two Degrees of Freedom

In this study, we present a new design of a shoulder perturbation robot that can characterise the dynamics of the shoulder in two degrees of freedom. It uses two linear electric motors to perturb the shoulder joint in internal/external rotation and abduction/adduction, and force and position sensors to measure the corresponding torque and angular displacement about the joint. System identification techniques are used to estimate the dynamics of the muscles around the joint. The advantage our apparatus offers over the existing ones is that it can efficiently transfer torque to the joint and measure its dynamics separately with minimal interference from soft tissues. We verified that the apparatus can accurately estimate joint dynamics by conducting tests on a phantom of known properties. In addition, experiments were conducted on a human participant. It has been demonstrated that the measured dynamics of participant's arm are repeatable. The potential impact of our apparatus is to be used in clinic as a diagnostic tool for rotator cuff injuries.

Blood Collection from The Porcine Ear Using a Jet Injector. Annu Int Conf IEEE Eng Med Biol Soc 2020;2020:5119-5123. [PMID: 33019138 DOI: 10.1109/embc44109.2020.9175421]

We present a new lancet-free method of capillary blood collection for the measurement of blood glucose concentration using a needle-free jet injector. This technique is tested on living animals and directly compared to the current best practice, lancet prick. Shallow jet injection into porcine outer-ear was performed using a portable needle-free jet injector with a slot-shaped nozzle. The jet injections presented used about 25 µL of injectate to penetrate porcine skin to about 1.4 mm, which is within the WHO standards for capillary blood sampling. The blood and fluid released by the jet injections and lancet pricks was collected. The volume and colour of these samples were analysed. The results demonstrate that jet injection is a feasible technique for the collection of capillary blood, despite the small volume of blood samples retrieved from all four pigs. Jet injection may be used in the future to retrieve capillary blood samples from human fingertips.

Ankle torque forecasting using time-delayed neural networks

A method for ankle torque prediction ahead of the current time is proposed in this paper. The mean average value of EMG signals from four muscles, alongside the joint angle and angular velocity of the right ankle, were used as input parameters to train a time-delayed artificial neural network. Data collected from five healthy subjects were used to generate the dataset to train and test the model. The model predicted ankle torque for five different future times from zero to 2 seconds. Model predictions were compared to torque calculated from inverse dynamics for each subject. The model predicted ankle torque up to 1 second ahead of time with normalized root mean squared error of less than 15 percent while the coefficient of determination was over 0.85.Clinical Relevance- the potential of the model for predicting joint torque ahead of time is helpful to establish an intuitive interaction between human and assistive robots. This model has application to assist patients with neurological disorders.

Laterally Dispersing Nozzles for Needle-assisted Jet Injection

Most transdermal drug delivery systems are designed to inject drugs through the skin in a direction normal to the skin surface. However, in some applications, such as local anaesthesia, it is desirable to disperse the drug in a direction parallel to the surface of the skin. In this paper we present nozzles for needle-assisted jet injection that are designed to laterally disperse the fluid drug at a chosen depth in tissue. These nozzles were manufactured by laser machining holes in the walls of 0.57 mm (24 G) hypodermic needles, and sealing the ends of the needles. An existing controllable jet injection system was used to test the nozzles. High-speed video recordings were taken to examine the shape of the high-speed jets emitted from the orifices, and jet injections into post mortem porcine tissue were performed to evaluate the resulting dispersion pattern. These injections demonstrated the ability of these nozzles to achieve a widely spread dispersion at a depth of 3 mm to 4 mm in tissue. We observed that the widest dispersion occurred at the same depth as the orifices, and dispersion was greater in the direction of the jets. Further investigation, including an in vivo study, is now required to evaluate whether this technique can reduce the time, cost or pain associated with transdermal local anaesthetic delivery.

Spatially resolved diffuse imaging for high-speed depth estimation of jet injection

We investigate the use of spatially resolved diffuse imaging to track a fluid jet delivered at high speed into skin tissue. A jet injector with a short needle to deliver drugs beneath the dermis, is modified to incorporate a laser beam into the jet, which is ejected into ex vivo porcine tissue. The diffuse light emitted from the side and top of the tissue sample is recorded using high-speed videography. Similar experiments, using a depth-controlled fiber optic source, generate a reference dataset. The side light distribution is related to source depth for the controlled-source experiments and used to track the effective source depth of the injections. Postinjection X-ray images show agreement between the jet penetration and ultimate light source depth. The surface light intensity profile is parameterized with a single parameter and an exponential function is used to relate this parameter to source depth for the controlled-source data. This empirical model is then used to estimate the effective source depth from the surface profile of the injection experiments. The depth estimates for injections into fat remain close to the side depth estimates, with a root-mean-square error of 1.1 mm, up to a source depth of 8 mm.

Classification of diffuse light emission profiles for distinguishing skin layer penetration of a needle-free jet injection

In this work, a system is developed for tracking the skin layer to which a needle-free jet injection of fluid has penetrated by incorporating a laser beam into the jet, and measuring the diffuse light emitted from skin tissue. Monitoring the injection in this way offers the ability to improve the reliability of drug delivery with this transdermal delivery method. A laser beam, axially aligned with a jet of fluid, created a distribution of diffuse light around the injection site that varied as the injection progressed. High-speed videography was used to capture the diffuse light emission from laser-coupled jet injections into samples of porcine skin, fat, and muscle. The injection produced a distribution of diffuse light around the injection site that varied as the injection descended. A classifier, trained to distinguish whether the light source was located in the fat or muscle from surface intensity profile measurements, correctly identified the injected layer in 97.2 % of the cases when cross-examined against estimates using the light distribution emitted from the side of the sample.

The effect of jet speed on large volume jet injection

Jet injection presents a promising alternative to needle and syringe injection for transdermal drug delivery. The controllability of recently-developed jet injection devices now allows jet speed to be modulated during delivery, and has enabled efficient and accurate delivery of volumes up to 0.3 mL. However, recent attempts to inject larger volumes of up to 1 mL using the same methods have highlighted the different requirements for successful delivery at these larger volumes. This study aims to establish the jet speed requirements for delivery of 1 mL of liquid using a controllable, voice coil driven injection device. Additionally, the effectiveness of a two-phase jet speed profile is explored (where jet speed is deliberately decreased toward the end of the injection) and compared to the constant jet speed case. A controllable jet injection device was developed to deliver volumes of 1 mL of liquid at jet speeds >140 m/s. This device was used to deliver a series of injections into post-mortem porcine tissue in single and two-phase jet speed profiles. Single-phase injections were performed over the range 80 m/s to 140 m/s. Consistent delivery success (>80% of the liquid delivered) was observed at a jet speed of 130 m/s or greater. Consistent penetration into the muscle layer coincided with delivery success. Two-phase injections of 1 mL were performed with a first phase volume of 0.15 mL, delivered at 140 m/s, while the injection of the remainder of fluid was delivered at a second phase speed that was varied over the range 60 m/s to 120 m/s. Ten two-phase injections were performed with a second phase speed of 100 m/s producing a mean delivery volume of 0.8 mL ± 0.2 mL, while the single-phase injections at 100 m/s achieved a mean delivery volume of 0.4 mL ± 0.3 mL. These results demonstrate that a reduced jet speed can be used in the later stages of a 1 mL injection to achieve delivery success at a reduced energy cost. We found that a jet speed approaching 100 m/s was required following initial penetration to successfully deliver 1 mL, whereas speeds as low as 50 m/s have been used for volumes of <0.3 mL. These findings provide valuable insight into the effect of injection volume and speed on delivery success; this information is particularly useful for devices that have the ability to vary jet speed during drug delivery.

Measuring the mechanical efficiency of a working cardiac muscle sample at body temperature using a flow-through calorimeter

We have developed a new `work-loop calorimeter' that is capable of measuring, simultaneously, the work-done and heat production of isolated cardiac muscle samples at body temperature. Through the innovative use of thermoelectric modules as temperature sensors, the development of a low-noise fluid-flow system, and implementation of precise temperature control, the heat resolution of this device is 10 nW, an improvement by a factor of ten over previous designs. These advances have allowed us to conduct the first flow-through measurements of work output and heat dissipation from cardiac tissue at body temperature. The mechanical efficiency is found to vary with peak stress, and reaches a peak value of approximately 15 %, a figure similar to that observed in cardiac muscle at lower temperatures.

High-speed X-ray analysis of liquid delivery during jet injection

The effect of varying velocity during jet injection on the dispersion of fluid into tissue is investigated using a custom-built X-ray imaging system. Injections are performed into ex-vivo porcine abdominal tissue using a voice coil actuated injection device. Single velocity and two-phase velocity injections reveal the complex nature of the dispersion of the fluid jet in layered tissue and highlight the effects of changing the jet velocity following the initial penetration of the liquid into the tissue.

Light source depth estimation in porcine skin using spatially resolved diffuse imaging

We present an inexpensive imaging system for measuring the diffuse surface radiance profile produced by a light source within a turbid medium. The diffusion model of light propagation in multiple scattering media is used to estimate the optical properties of a sample and subsequently approximate the depth of an optical source. The system is shown to accurately estimate the relative changes in source depth in a homogeneous phantom. The absolute depth estimate may be improved with a better estimate of the optical parameters. Preliminary tests on a porcine skin sample show that the simple model can be used to roughly track the relative changes in the depth of a source in a layered medium. However, a rigorous model of the layered geometry may be required to more accurately localize a source, particularly near interfaces between tissue layers.

A device for controlled jet injection of large volumes of liquid

We present a needle-free jet injection device controllably actuated by a voice coil and capable of injecting up to 1.3 mL. This device is used to perform jet injections of ~900 μL into porcine tissue. This is the first time that delivery of such a large volume has been reported using an electronically controllable device. The controllability of this device is demonstrated with a series of ejections where the desired volume is ejected to within 1 % during an injection at a predetermined jet velocity.

Four-Dimensional Imaging of Cardiac Trabeculae Contracting In Vitro Using Gated OCT

Cardiac trabeculae are widely used as experimental muscle preparations for studying heart muscle. However, their geometry (diameter, length, and shape) can vary not only among samples, but also within a sample, leading to inaccuracies in estimating their stress production, volumetric energy output, and/or oxygen consumption. Hence, it is desirable to have a system that can accurately image each trabecula in vitro during an experiment. To this end, we constructed an optical coherence tomography system and implemented a gated imaging procedure to image actively contracting trabeculae and reconstruct their time-varying geometry. By imaging a single cross section while monitoring the developed force, we found that gated stimulation of the muscle was sufficiently repeatable to allow us to reconstruct multiple contractions to form a four-dimensional representation of a single muscle contraction cycle. The complete muscle was imaged at various lengths and the cross-sectional area along the muscle was quantified during the contraction cycle. The variation of cross-sectional area along the length during a contraction tended to increase as the muscle was contracting, and this increase was greater at longer muscle lengths. To our knowledge, this is the first system that is able to measure the geometric change of cardiac trabeculae in vitro during a contraction, allowing cross-sectional stress and other volume-dependent parameters to be estimated with greater accuracy.

A compound ampoule for large-volume controllable jet injection

We present a new design for a needle-free injector ampoule, using two concentric pistons to pressurize the fluid during the injection. The smaller, inner piston is used to provide an initial high-velocity piercing jet; it then engages the outer piston to deliver the remaining drug via a low-velocity jet. The goal of this design is to enable needle-free delivery of relatively large volumes to controlled depths in tissue, a task impractical with conventional ampoules and actuators. We demonstrate this concept by constructing a 1.2mL ampoule, measuring the jet velocity it produces in free air, and performing a set of injections into post-mortem porcine tissue. The ampoule smoothly produces the two desired phases of an injection, with a smooth transition of jet velocity as the two pistons engage. The injection is able to penetrate porcine skin to a controlled depth and deliver fluid to the subcutaneous and/or intramuscular layers, though further investigation is required to ensure that all of the fluid delivered can be retained at the desired depth.

A high-resolution thermoelectric module-based calorimeter for measuring the energetics of isolated ventricular trabeculae at body temperature

Isolated ventricular trabeculae are the most common experimental preparations used in the study of cardiac energetics. However, the experiments have been conducted at subphysiological temperatures. We have overcome this limitation by designing and constructing a novel calorimeter with sufficiently high thermal resolution for simultaneously measuring the heat output and force production of isolated, contracting, ventricular trabeculae at body temperature. This development was largely motivated by the need to better understand cardiac energetics by performing such measurements at body temperature to relate tissue performance to whole heart behavior in vivo. Our approach uses solid-state thermoelectric modules, tailored for both temperature sensing and temperature control. The thermoelectric modules have high sensitivity and low noise, which, when coupled with a multilevel temperature control system, enable an exceptionally high temperature resolution with a noise-equivalent power an order of magnitude greater than those of other existing muscle calorimeters. Our system allows us to rapidly and easily change the experimental temperature without disturbing the state of the muscle. Our calorimeter is useful in many experiments that explore the energetics of normal physiology as well as pathophysiology of cardiac muscle.

Optical coherence tomography imaging of cardiac trabeculae

An integrated instrument is being developed to study live cardiac trabeculae, which is capable of stimulating the muscle under controlled conditions while measuring the heat production, force, and sarcomere length distribution. To improve the accuracy of estimation of stress, strain, and volumetric heat production, the geometry of the muscle must be known. A spectral domain optical coherence tomography system (SD-OCT) has been constructed and calibrated to image the trabecula mounted inside the instrument. This system was mounted above the muscle chamber and a series of equally-spaced cross-sectional images were obtained. These were processed using a workflow developed to extract cross-sectional area and volume. The initial results have demonstrated the feasibility of using OCT to capture the overall geometry of cardiac trabecula mounted in the instrument. Further work will be directed to improve the image quality for larger samples and apply meshing algorithms to the acquired data.

Optimal voice coil actuators for needle-free jet injection

We present a scaling model for electrically-actuated needle free jet injectors, establishing the relationship between injection volume and motor size. Using an analytical electromagnetic model for the motor, we derive an optimal motor design, and show that this design is approximately scale-invariant. To illustrate the utility of this model, we then describe the design of a motor for use with 300 μL disposable injection ampoules with a mass of just 300 g, including a light-weight support structure. Experimental verification of the motor performance shows close agreement to model predictions, with a peak force of 1000 N/kg and a 150 m/s water jet delivered.

Design and optimization strategies for muscle-like direct-drive linear permanent-magnet motors

We report a new approach to the design of direct-drive linear permanent-magnet motors for use in general-purpose robotic actuation, with particular attention to applications in bird-scale flapping-wing robots. We show a simple, quantitative analytical modeling framework for this class of actuators, and demonstrate inherent scaling properties that allow the production of motors with force densities and efficiencies comparable to those of biological muscles. We illustrate the effectiveness of our model with finite-element analysis and a comparison with commercially available motors, and discuss future plans for experimental validation. We show how this model leads to a set of practical design specifications for muscle-like motors, and examine the resulting trade-off between thermal management and motor fabrication complexity.

Cortical recording with polypyrrole microwire electrodes

The ability to record from the same neuron for extended periods of time is essential to understanding how the brain reorganizes during learning. Conventional chronic recording microelectrodes are made from metal or silicon. However, the large stiffness mismatch between the electrodes and brain tissue causes shear-induced inflammation, limiting long-term recording stability. The flexibility of polypyrrole microwire has the potential to improve the chronic recording stability by minimizing the stiffness mismatch. In this paper, we report the implantation of a conducting polymer microwire electrode in a rodent brain, and the successful recording of cortical activity using such an electrode.