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Davies J, Thai MT, Low H, Phan PT, Hoang TT, Lovell NH, Do TN. Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications. Soft Robot 2023; 10:1055-1069. [PMID: 37130309 DOI: 10.1089/soro.2021.0154] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 05/04/2023] Open
Abstract
The advent of soft robots has solved many issues posed by their rigid counterparts, including safer interactions with humans and the capability to work in narrow and complex environments. While much work has been devoted to developing soft actuators and bioinspired mechatronic systems, comparatively little has been done to improve the methods of actuation. Hydraulically soft actuators (HSAs) are emerging candidates to control soft robots due to their fast responses, low noise, and low hysteresis compared to compressible pneumatic ones. Despite advances, current hydraulic sources for large HSAs are still bulky and require high power availability to drive the pumping plant. To overcome these challenges, this work presents a new bioinspired soft and high aspect ratio pumping element (Bio-SHARPE) for use in soft robotic and medical applications. This new soft pumping element can amplify its input volume to at least 8.6 times with a peak pressure of at least 40 kPa. The element can be integrated into existing hydraulic pumping systems like a hydraulic gearbox. Naturally, an amplification of fluid volume can only come at the sacrifice of pumping pressure, which was observed as a 19.1:1 reduction from input to output pressure. The new concept enables a large soft robotic body to be actuated by smaller fluid reservoirs and pumping plant, potentially reducing their power and weight, and thus facilitating drive source miniaturization. The high amplification ratio also makes soft robotic systems more applicable for human-centric applications such as rehabilitation aids, bioinspired untethered soft robots, medical devices, and soft artificial organs. Details of the fabrication and experimental characterization of the Bio-SHARPE and its associated components are given. A soft robotic squid and an artificial heart ventricle are introduced and experimentally validated.
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Affiliation(s)
- James Davies
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Mai Thanh Thai
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Harrison Low
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Phuoc Thien Phan
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Nigel Hamilton Lovell
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
| | - Thanh Nho Do
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, New South Wales, Australia
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Zhu K, Phan PT, Sharma B, Davies J, Thai MT, Hoang TT, Nguyen CC, Ji A, Nicotra E, La HM, Vo-Doan TT, Phan HP, Lovell NH, Do TN. A Smart, Textile-Driven, Soft Exosuit for Spinal Assistance. Sensors (Basel) 2023; 23:8329. [PMID: 37837159 PMCID: PMC10575006 DOI: 10.3390/s23198329] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/10/2023] [Revised: 10/04/2023] [Accepted: 10/06/2023] [Indexed: 10/15/2023]
Abstract
Work-related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating the risk of back pain, most spinal assist devices still possess a partially rigid structure that impacts the user's comfort and flexibility. This paper addresses this issue by presenting a smart textile-actuated spine assistance robotic exosuit (SARE), which can conform to the back seamlessly without impeding the user's movement and is incredibly lightweight. To detect strain on the spine and to control the smart textile automatically, a soft knitting sensor that utilizes fluid pressure as a sensing element is used. Based on the soft knitting hydraulic sensor, the robotic exosuit can also feature the ability of monitoring and rectifying human posture. The SARE is validated experimentally with human subjects (N = 4). Through wearing the SARE in stoop lifting, the peak electromyography (EMG) signals of the lumbar erector spinae are reduced by 22.8% ± 12 for lifting 5 kg weights and 27.1% ± 14 in empty-handed conditions. Moreover, the integrated EMG decreased by 34.7% ± 11.8 for lifting 5 kg weights and 36% ± 13.3 in empty-handed conditions. In summary, the artificial muscle wearable device represents an anatomical solution to reduce the risk of muscle strain, metabolic energy cost and back pain associated with repetitive lifting tasks.
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Affiliation(s)
- Kefan Zhu
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Phuoc Thien Phan
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Bibhu Sharma
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - James Davies
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Mai Thanh Thai
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
- College of Engineering and Computer Science, VinUniversity, Hanoi 100000, Vietnam
| | - Trung Thien Hoang
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Chi Cong Nguyen
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Adrienne Ji
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Emanuele Nicotra
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
| | - Hung Manh La
- Advanced Robotics and Automation Lab, Computer Science and Engineering, University of Nevada, Reno, NV 89512, USA;
| | - Tat Thang Vo-Doan
- School of Mechanical & Mining Engineering, The University of Queensland, St. Lucia, QLD 4072, Australia;
| | - Hoang-Phuong Phan
- School of Mechanical and Manufacturing Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia;
- Tyree Foundation Institute of Health Engineering (IHealthE), UNSW Sydney, Sydney, NSW 2052, Australia
| | - Nigel H. Lovell
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
- Tyree Foundation Institute of Health Engineering (IHealthE), UNSW Sydney, Sydney, NSW 2052, Australia
| | - Thanh Nho Do
- Graduate School of Biomedical Engineering, Faculty of Engineering, UNSW Sydney, Kensington Campus, Sydney, NSW 2052, Australia; (K.Z.); (B.S.); (J.D.); (M.T.T.); (T.T.H.); (C.C.N.); (A.J.); (E.N.); (N.H.L.)
- Tyree Foundation Institute of Health Engineering (IHealthE), UNSW Sydney, Sydney, NSW 2052, Australia
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Thai MT, Phan PT, Tran HA, Nguyen CC, Hoang TT, Davies J, Rnjak‐Kovacina J, Phan H, Lovell NH, Do TN. Advanced Soft Robotic System for In Situ 3D Bioprinting and Endoscopic Surgery. Adv Sci (Weinh) 2023; 10:e2205656. [PMID: 36808494 PMCID: PMC10131836 DOI: 10.1002/advs.202205656] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/28/2022] [Revised: 12/26/2022] [Indexed: 06/18/2023]
Abstract
Three-dimensional (3D) bioprinting technology offers great potential in the treatment of tissue and organ damage. Conventional approaches generally rely on a large form factor desktop bioprinter to create in vitro 3D living constructs before introducing them into the patient's body, which poses several drawbacks such as surface mismatches, structure damage, and high contamination along with tissue injury due to transport and large open-field surgery. In situ bioprinting inside a living body is a potentially transformational solution as the body serves as an excellent bioreactor. This work introduces a multifunctional and flexible in situ 3D bioprinter (F3DB), which features a high degree of freedom soft printing head integrated into a flexible robotic arm to deliver multilayered biomaterials to internal organs/tissues. The device has a master-slave architecture and is operated by a kinematic inversion model and learning-based controllers. The 3D printing capabilities with different patterns, surfaces, and on a colon phantom are also tested with different composite hydrogels and biomaterials. The F3DB capability to perform endoscopic surgery is further demonstrated with fresh porcine tissue. The new system is expected to bridge a gap in the field of in situ bioprinting and support the future development of advanced endoscopic surgical robots.
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Affiliation(s)
- Mai Thanh Thai
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Phuoc Thien Phan
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Hien Anh Tran
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Chi Cong Nguyen
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - James Davies
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Jelena Rnjak‐Kovacina
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Hoang‐Phuong Phan
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
- School of Mechanical and Manufacturing EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
| | - Nigel Hamilton Lovell
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
| | - Thanh Nho Do
- Graduate School of Biomedical EngineeringFaculty of EngineeringUNSW SydneyKensington CampusSydneyNSW2052Australia
- Tyree Institute of Health EngineeringUNSW SydneySydneyNSW2052Australia
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Phan PT, Hoang TT, Thai MT, Low H, Davies J, Lovell NH, Do TN. Smart surgical sutures using soft artificial muscles. Sci Rep 2021; 11:22420. [PMID: 34789808 PMCID: PMC8599709 DOI: 10.1038/s41598-021-01910-2] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/24/2021] [Accepted: 11/08/2021] [Indexed: 02/06/2023] Open
Abstract
Wound closure with surgical sutures is a critical challenge for flexible endoscopic surgeries. Substantial efforts have been introduced to develop functional and smart surgical sutures to either monitor wound conditions or ease the complexity of knot tying. Although research interests in smart sutures by soft robotic technologies have emerged for years, it is challenging to develop a soft robotic structure that possesses a similar physical structure as conventional sutures while offering a self-tightening knot or anchor to close the wound. This paper introduces a new concept of smart sutures that can be programmed to achieve desired and uniform tension distribution while offering self-tightening knots or automatically deploying secured anchors. The core technology is a soft hydraulic artificial muscle that can be elongated and contracted under applied fluid pressure. Each suture is equipped with a pressure locking mechanism to hold its temporary elongated state and to induce self-shrinking ability. The puncturing and holding force for the smart sutures with anchors are examined. Ex-vivo experiments on fresh porcine stomach and colon demonstrate the usefulness of the new smart sutures. The new approaches are expected to pave the way for the further development of smart sutures that will benefit research, training, and commercialization in the surgical field.
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Affiliation(s)
- Phuoc Thien Phan
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia
| | - Mai Thanh Thai
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia
| | - Harrison Low
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia
| | - James Davies
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia
| | - Nigel H Lovell
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia
| | - Thanh Nho Do
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, NSW, 2052, Australia.
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Phan PT, Hoang TT, Thai MT, Low H, Lovell NH, Do TN. Twisting and Braiding Fluid-Driven Soft Artificial Muscle Fibers for Robotic Applications. Soft Robot 2021; 9:820-836. [PMID: 34613831 DOI: 10.1089/soro.2021.0040] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/11/2022] Open
Abstract
Research on soft artificial muscles (SAMs) is rapidly growing, both in developing new actuation ideas and improving existing structures with multifunctionality. The human body has more than 600 muscles that drive organs and joints to achieve desired functions. Inspired by the human muscles, this article presents a new type of SAM fiber formed from twisting and braiding soft hydraulic filament artificial muscles with high aspect ratio, high strain, and high energy efficiency. We systematically investigated the relationship between input pressure and output elongation as well as contraction force of the new muscles using different configurations in terms of an array of single and multiple muscles arranged in nontwisting (or straight), twisting, and braiding variants. Experimental results revealed that the twisting and braiding configurations greatly enhanced the muscle elongation and generated force compared with their nontwisting/braiding counterparts. To demonstrate the new muscles' usability, we implemented several muscle variants to bidirectionally manipulate 3D-printed human fingers and elbow, mimicking the human upper limb with a full range of motion. We also created a bioinspired growing soft tubular muscle that could simultaneously exert longitudinal and radial expansion upon pressurization, similar to that of auxetic metamaterial structures. The new growing soft tubular muscles were experimentally validated and the results showed that they could be potentially implemented in several emerging applications, including smart compression garments, stent-like supporting devices, and tubular grippers for medical use.
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Affiliation(s)
- Phuoc Thien Phan
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia
| | - Trung Thien Hoang
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia
| | - Mai Thanh Thai
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia
| | - Harrison Low
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia
| | - Nigel Hamilton Lovell
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia
| | - Thanh Nho Do
- Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia
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Thai MT, Phan PT, Hoang TT, Low H, Lovell N, Nho T. Corrections to “Design, Fabrication, and Hysteresis Modeling of Soft Microtubule Artificial Muscle (SMAM) for Medical Applications” [Jul 21 5089-5096]. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3108243] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
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Thai MT, Phan PT, Hoang TT, Low H, Lovell NH, Do TN. Design, Fabrication, and Hysteresis Modeling of Soft Microtubule Artificial Muscle (SMAM) for Medical Applications. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3072599] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/09/2023]
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Miyasaka M, Tiong AMH, Phan PT, Huang Y, Kaan HL, Ho KY, Phee SJ. Correction to: Two Magnetic Sensor Based Real-Time Tracking of Magnetically Inflate Swallowable Intragastric Balloon. Ann Biomed Eng 2021; 49:1267. [PMID: 33914213 DOI: 10.1007/s10439-021-02737-8] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
Affiliation(s)
- Muneaki Miyasaka
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore.
| | - Anthony Meng Huat Tiong
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Phuoc Thien Phan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Yanpei Huang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Hung Leng Kaan
- Department of General Surgery, National University Hospital, Singapore, Singapore
| | - Khek Yu Ho
- Department of Medicine, National University of Singapore, Singapore, Singapore
| | - Soo Jay Phee
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
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Miyasaka M, Tiong AMH, Phan PT, Huang Y, Kaan HL, Ho KY, Phee SJ. Two Magnetic Sensor Based Real-Time Tracking of Magnetically Inflated Swallowable Intragastric Balloon. Ann Biomed Eng 2021; 49:1735-1746. [PMID: 33452593 DOI: 10.1007/s10439-020-02716-5] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/23/2020] [Accepted: 12/24/2020] [Indexed: 12/17/2022]
Abstract
This paper presents a two magnetic sensor based tracking method for a magnetically inflated intragastric balloon capsule (MIBC) which is used for obesity treatment. After the MIBC is swallowed, it is designed to be inflated inside the stomach by approaching a permanent magnet (PM) externally near the abdomen. However, if the balloon inflation is accidentally triggered while the MIBC is still in the esophagus, the esophagus will be damaged. Therefore, to safely inflate the MIBC, we aim to track the MIBC's position along the esophagus and confirm the MIBC passes through. Typically, magnetic sensor based tracking systems tend to be bulky and costly since they involve computationally intensive optimization with many magnetic sensors. To solve those problems, we develop an algorithm that estimates the position of the PM inside the MIBC by using the grid search combined with the dynamically confined search range and search threshold modulation. Our tracking method achieved an average 1D position error of 3.48 mm which is comparable to the up to 4 mm average error for the other magnetic sensor based tracking systems that require more sensors and computational power compared to our system.
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Affiliation(s)
- Muneaki Miyasaka
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore.
| | - Anthony Meng Huat Tiong
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Phuoc Thien Phan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Yanpei Huang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Hung Leng Kaan
- Department of General Surgery, National University Hospital, Singapore, Singapore
| | - Khek Yu Ho
- Department of Medicine, National University of Singapore, Singapore, Singapore
| | - Soo Jay Phee
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
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Phan PT, Tiong AMH, Miyasaka M, Cao L, Kaan HL, Ho KY, Phee SJ. EndoPil: A Magnetically Actuated Swallowable Capsule for Weight Management: Development and Trials. Ann Biomed Eng 2020; 49:1391-1401. [PMID: 33215368 DOI: 10.1007/s10439-020-02692-w] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/02/2020] [Accepted: 11/11/2020] [Indexed: 01/17/2023]
Abstract
Intragastric balloons (IGBs), by occupying the stomach space and prolonging satiety, is a promising method to treat obesity and consequently improves its associated comorbidities, e.g. coronary heart disease, diabetes, and cancer. However, existing IGBs are often tethered with tubes for gas or liquid delivery or require endoscopic assistance for device delivery or removal, which are usually uncomfortable, costly, and may cause complications. This paper presents a novel tetherless, magnetically actuated capsule (EndoPil) which can deploy an IGB inside the stomach after being swallowed and being activated by an external magnet. The external magnet attracts a small magnet inside the EndoPil to open a valve, triggering the chemical reaction of citric acid and potassium bicarbonate to produce carbon dioxide gas, which inflates a biocompatible balloon (around 120 mL). A prototype, 13 mm in diameter and 35 mm in length, was developed. Simulations and bench-top tests were conducted to test the force capability of the magnetic actuation mechanism, the required force to activate the valve, and the repeatability of balloon inflation. Experiments on animal and human were successfully conducted to demonstrate the safety and feasibility of inflating a balloon inside the stomach by an external magnet.
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Affiliation(s)
- Phuoc Thien Phan
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Anthony Meng Huat Tiong
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Muneaki Miyasaka
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
| | - Lin Cao
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore.
| | - Hung Leng Kaan
- Department of General Surgery, National University Hospital, Singapore, Singapore
| | - Khek Yu Ho
- Department of Medicine, National University of Singapore, Singapore, Singapore
| | - Soo Jay Phee
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore, Singapore
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Kaan HL, Phan PT, Tiong AMH, Miyasaka M, Phee SJ, Ho KY. First-in-man feasibility study of a novel ingestible magnetically inflated balloon capsule for treatment of obesity. Endosc Int Open 2020; 8:E607-E610. [PMID: 32355877 PMCID: PMC7165000 DOI: 10.1055/a-1127-2991] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 06/19/2019] [Accepted: 12/30/2019] [Indexed: 01/14/2023] Open
Abstract
AbstractIntragastric balloons (IGBs) are an established treatment option for obesity. Major barriers to dissemination of IGBs include lack of long-term efficacy outcomes, safety concerns, cost, and tolerability. We developed a novel ingestible magnetically inflated balloon capsule (IMI-BC) in hopes of overcoming these challenges. The IMI-BC is significantly cheaper than IGBs currently available on the market. We performed proof-of-concept animal studies and a first-in-human feasibility study to demonstrate the feasibility of inflating the IMI-BC using an external magnet. Further studies are currently being conducted to evaluate the safety, tolerability, and long-term efficacy of the IMI-BC. When fully developed, we anticipate that this device will benefit obese patients.
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Affiliation(s)
- Hung Leng Kaan
- Department of General Surgery, National University Hospital, Singapore
| | - Phuoc Thien Phan
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore
| | | | - Muneaki Miyasaka
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore
| | - Soo Jay Phee
- School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore
| | - Khek Yu Ho
- Department of Medicine, National University of Singapore
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Le HM, Phan PT, Lin C, Jiajun L, Phee SJ. A Temperature-Dependent, Variable-Stiffness Endoscopic Robotic Manipulator with Active Heating and Cooling. Ann Biomed Eng 2020; 48:1837-1849. [DOI: 10.1007/s10439-020-02495-z] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/18/2019] [Accepted: 03/20/2020] [Indexed: 02/01/2023]
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Huang Y, Burdet E, Cao L, Phan PT, Tiong AMH, Zheng P, Phee SJ. Performance Evaluation of a Foot Interface to Operate a Robot Arm. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2926215] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Abstract
Divided or 'kissing' naevus was first described on the eyelids in 1908. Other types of divided naevus reported include naevus spilus on the eyelids, mast cell naevus and epidermal naevus in a divided form on the fingers. Six cases of kissing naevus of the penis appear in the literature. In this paper, we discuss a seventh case.
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Affiliation(s)
- P T Phan
- Department of Dermatology, Chelsea and Westminster Hospital, London, UK
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