MagnetoSuture
Minimally invasive robotic surgery relies on manipulation of surgical instruments, such as suture needles, using small, agile manipulators having very small footprints in the surgical workspace. Could magnetic fields be used to manipulate suture needles in a hands-free, tetherless manner? In collaboration with medical roboticists, we are working to demonstrate magnetic field guided suture needle manipulations in vitro
Below you can view videos of our system for steering suture needles in vitro for demonstration of control (first row) and penetration of excised animal and human tissues (second row). MagnetoSuture work is performed in collaboration with Prof. Axel Krieger’s lab at Johns Hopkins University and Prof. Yancy Diaz-Mercado’s lab at the University of Maryland, College Park. Together, our team is developing new magnetic manipulation hardware, new control algorithms, and new needles for advancing the field of magnetic needle guidance.
MagnetoSuture Publications
Suraj Raval, Lamar Mair, Will Pryor, Onder Erin, Trevor Schwehr, Janya Budaraju, Axel Krieger, Yancy Diaz-Mercado.
Time-Scale Separation Analysis for Surgical Needle Control in Electromagnetic Robotic Systems.
IFAC-PapersOnLine 56(3), 307-312, 2023.
Barnoy Y, Erin O, Raval S, Pryor W, Mair LO, Weinberg IN, Diaz-Mercado Y, Krieger A, Hager GD.
Control of Magnetic Surgical Robots with Model-Based Simulators and Reinforcement Learning.
IEEE Transactions on Medical Robotics and Bionics, 2022.
Erin O, Raval S, Schwehr T, Pryor W, Barnoy Y, Bell A, Liu X, Mair LO, Weinberg IN, Krieger A, Diaz-Mercado Y.
Enhanced Accuracy in Magnetic Actuation: Closed-loop Control of a Magnetic Agent with Low-Error Numberical Magnetic Model Estimation.
IEEE Robotics and Automation Letters 7(4), 9429 – 9436, 2022.
Erin O, Liu X, Ge J, Opfermann J, Barnoy Y, Mair L, Kang J, Gensheimer W, Weinberg I, Diaz-Mercado Y, Krieger A.
Overcoming the Force Limitations of Magnetic Robotic Surgery: MPACT-Needle for Tetherless Interventions.
Advanced Intelligent Systems 2200072, 2022.
Mair LO, Chowdhury S, Liu X, Erin O, Udalov O, Raval S, Johnson B, Jafari S, Cappelleri DJ, Diaz-Mercado Y, Krieger A., Weinberg IN.
Going Hands Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue ex vivo.
MDPI Robotics 10, 129, 2021.
Suraj Raval, Onder Erin, Xiaolong Liu, Lamar O Mair, Will Pryor, Yotam Barnoy, Irving N Weinberg, Axel Krieger, Yancy Diaz-Mercado
Magnetic model calibration for tetherless surgical needle manipulation using Zernike polynomial fitting.
2021 IEEE 21st International Conference on Bioinformatics and Bioengineering (BIBE).
Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar Mair, Daniel Lerner, Onder Erin, Gregory D Hager, Yancy Diaz-Mercado, Axel Krieger.
Localization and control of magnetic suture needles in cluttered surgical site with blood and tissue.
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Matthew Fan, Xiaolong Liu, Kamakshi Jain, Daniel Lerner, Lamar O Mair, Irving N Weinberg, Yancy Diaz-Mercado, Axel Krieger.
Towards autonomous control of magnetic suture needles.
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Mair LO, Liu X, Dandamudi B, Jain K, Chowdhury S, Weed J, Diaz-Mercado Y, Weinberg IN, Krieger A.
MagnetoSuture: Tetherless manipulation of suture needles.
IEEE Transactions on Medical Robotics and Bionics 2(2), 206-215, 2020.