DocumentCode :
2092616
Title :
Localized viscoelasticity measurements with untethered intravitreal microrobots
Author :
Pokki, J. ; Ergeneman, Olgac ; Bergeles, Christos ; Torun, Hamdi ; Nelson, Bradley J.
Author_Institution :
Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland
fYear :
2012
fDate :
Aug. 28 2012-Sept. 1 2012
Firstpage :
2813
Lastpage :
2816
Abstract :
Microrobots are a promising tool for medical interventions and micromanipulation. In this paper, we explore the concept of using microrobots for microrheology. Untethered magnetically actuated microrobots were used to characterize one of the most complex biofluids, the vitreous humor. In this work we began by experimentally characterizing the viscoelastic properties of an artificial vitreous humor. For comparison, its properties were also measured using special microcantilevers in an atomic force microscope (AFM) setup. Subsequently, an untethered device was used to study the vitreous humor of a porcine eye, which is a valid ex-vivo model of a human eye. Its viscoelasticity model was extracted, which was in agreement with the model of the artificial vitreous. The existing characterization methodology requires eye and vitreous humor dissection for the microrheology measurements. We envision that the method proposed here can be used in in vivo.
Keywords :
biological fluid dynamics; biorheology; cantilevers; eye; medical robotics; microrobots; non-Newtonian fluids; viscoelasticity; artificial vitreous humor; atomic force microscope; complex biofluids; ex-vivo model; human eye; localized viscoelasticity measurements; medical interventions; micromanipulation; microrheology; porcine eye; special microcantilevers; untethered device; untethered intravitreal microrobots; untethered magnetically actuated microrobots; viscoelastic properties; viscoelasticity model; vitreous humor dissection; Elasticity; Force; Magnetic resonance imaging; Magnetic separation; Magnetomechanical effects; Probes; Viscosity; Animals; Micromanipulation; Robotics; Swine; Viscosity; Vitreous Body;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE
Conference_Location :
San Diego, CA
ISSN :
1557-170X
Print_ISBN :
978-1-4244-4119-8
Electronic_ISBN :
1557-170X
Type :
conf
DOI :
10.1109/EMBC.2012.6346549
Filename :
6346549
Link To Document :
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