Tesi etd-04052024-171251
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Tipo di tesi
Dottorato
Autore
SEMPRONI, FEDERICA
URN
etd-04052024-171251
Titolo
Analysis and Development of novel Active Monitoring Strategies for Implantable Medical Devices
Settore scientifico disciplinare
ING-IND/34
Corso di studi
Istituto di Biorobotica - PHD IN BIOROBOTICA
Commissione
relatore Prof.ssa MENCIASSI, ARIANNA
Membro MUSCO, STEFANIA
Membro Prof. CUTKOSKY, MARK
Membro MUSCO, STEFANIA
Membro Prof. CUTKOSKY, MARK
Parole chiave
- Implantable Biorobotic Organs
- Implantable Sensing Systems
- Implantable Actuation Systems
Data inizio appello
30/09/2024;
Disponibilità
parziale
Riassunto analitico
In an era where robotics is increasingly integrated into modern medicine, the exploration of implantable robotic organs as substitutes for native tissues has emerged as a promising frontier. These systems aim not only to assist but also to restore lost physiological functions, effectively replacing native organ functionality. The complexity and diversity of IBROs span various bodily systems and functions, yet their clinical implementation remains at an early stage. Engineering challenges persist, particularly in the development of IBROs essential components such as artificial anatomical counterparts, sensing and actuation systems, that must meet stringent requirements for miniaturization, power efficiency, reliability, and biocompatibility while ensuring precision and operational longevity.
This thesis copes with these challenges by focusing on the synergistic integration of sensors and actuators designed to interface with residual anatomy or fully artificial systems. Emphasizing the use of soft materials to enhance integration and tissue compatibility, the research aims to advance beyond current practices by developing novel solutions aiming towards integrated robotic systems capable of efficient operation within the body with an all-on-board approach.
The thesis explores two pivotal case studies aimed at advancing IBRO technology in critical areas affected by prevalent pathologies. The first case study explores semi-autonomous IBROs tailored to address lower urinary tract conditions, engaging patients in the operational loop. The second case study delves into autonomous IBROs designed to augment cardiovascular function in patients with congenital heart defects.
Structured into three main chapters, the thesis details these innovative solutions crucial to IBRO development. Chapter 1 provides the motivation and background of the thesis and outlines the limitations and challenges in the field of implantable bionic robotic organs.
Chapter 2 focuses on challenges in artificial urinary devices, including the development of implantable sensing systems for continuous urine volume monitoring, crucial for restoring proprioception and bladder self-management. Sensors were selected based on bladder-specific characteristics, including material composition (such as biological tissue or silicone), shape and geometry, and empty-to-full transition mechanisms. Moreover, the sensing systems were envisioned to be fully implantable and seamlessly integrated onto the bladder structure. Taking these criteria into consideration, appropriate yet unexplored technologies were identified. Specifically, variations in the electrical properties of native bladders during filling, termed bioimpedance variations, were leveraged. For the artificial bladder, the selection of resistive textile sensors was influenced by the origami shape of the designed organ and the necessity for entirely soft and flexible components within the abdominal cavity. In vivo testing on large animal models validates the functionality of the proposed systems, together with the corresponded volume estimation algorithms specifically implemented for the native and artificial bladders. The average error for these systems is approximately 20%, consistent with the state-of-the-art. Appendix A reports additional sensing strategies based on magnetic solutions with permanent magnets and electromagnets designed for the artificial bladder.
While in the clinical practice catheterization and abdominal torsion currently address bladder voiding needs, the integration of actuation systems remains crucial for advancing towards all-on-board IBRO solutions. Therefore, each sensing system has been complemented with hydraulic actuation systems to enhance functionality in both native and artificial bladders. In this case, the voiding efficiency exceeded 90%, highlighting the system's capability to effectively void the bladders.
Chapter 3 shifts focus to innovations in the realm of cardiovascular IBROs, specifically addressing limitations associated with Fontan circulation in children with single ventricle defects. An electro-hydraulic actuation systems utilizing Peano-HASEL actuators and expandable soft tips aim to restore pulsatility and enhance blood flow within the Fontan Conduit, thereby improving overall cardiac output. The investigated strategy achieved over 90% conduit occlusion and doubled the blood flow within the conduit. Concurrently, a novel sensing system for the aortic blood pressure facilitates continuous monitoring of cardiac function, crucial for evaluating the performance of the restored Fontan circulation. The innovative technology incorporates a MEMS pressure sensor known for its precision in readings, high signal-to-noise ratio, long operational lifespan, miniaturized electronics with durable packaging, and capabilities for real-time monitoring. Moreover, its silicone-based soft components ensure safe tissue contact, stretchability, and biocompatibility, making it well-suited for long-term medical monitoring in implantable settings.
The emphasis on soft, miniaturized sensing and actuation solutions marks a pivotal advancement in the development of IBROs across diverse anatomical regions, pushing the evolution towards fully integrated implantable devices. These integrated robotic systems, capable of efficient operation within the body through an onboard approach, signify a significant advancement towards the development of the first truly implantable IBROs, marking a notable advancement beyond the current state of the art.
This thesis copes with these challenges by focusing on the synergistic integration of sensors and actuators designed to interface with residual anatomy or fully artificial systems. Emphasizing the use of soft materials to enhance integration and tissue compatibility, the research aims to advance beyond current practices by developing novel solutions aiming towards integrated robotic systems capable of efficient operation within the body with an all-on-board approach.
The thesis explores two pivotal case studies aimed at advancing IBRO technology in critical areas affected by prevalent pathologies. The first case study explores semi-autonomous IBROs tailored to address lower urinary tract conditions, engaging patients in the operational loop. The second case study delves into autonomous IBROs designed to augment cardiovascular function in patients with congenital heart defects.
Structured into three main chapters, the thesis details these innovative solutions crucial to IBRO development. Chapter 1 provides the motivation and background of the thesis and outlines the limitations and challenges in the field of implantable bionic robotic organs.
Chapter 2 focuses on challenges in artificial urinary devices, including the development of implantable sensing systems for continuous urine volume monitoring, crucial for restoring proprioception and bladder self-management. Sensors were selected based on bladder-specific characteristics, including material composition (such as biological tissue or silicone), shape and geometry, and empty-to-full transition mechanisms. Moreover, the sensing systems were envisioned to be fully implantable and seamlessly integrated onto the bladder structure. Taking these criteria into consideration, appropriate yet unexplored technologies were identified. Specifically, variations in the electrical properties of native bladders during filling, termed bioimpedance variations, were leveraged. For the artificial bladder, the selection of resistive textile sensors was influenced by the origami shape of the designed organ and the necessity for entirely soft and flexible components within the abdominal cavity. In vivo testing on large animal models validates the functionality of the proposed systems, together with the corresponded volume estimation algorithms specifically implemented for the native and artificial bladders. The average error for these systems is approximately 20%, consistent with the state-of-the-art. Appendix A reports additional sensing strategies based on magnetic solutions with permanent magnets and electromagnets designed for the artificial bladder.
While in the clinical practice catheterization and abdominal torsion currently address bladder voiding needs, the integration of actuation systems remains crucial for advancing towards all-on-board IBRO solutions. Therefore, each sensing system has been complemented with hydraulic actuation systems to enhance functionality in both native and artificial bladders. In this case, the voiding efficiency exceeded 90%, highlighting the system's capability to effectively void the bladders.
Chapter 3 shifts focus to innovations in the realm of cardiovascular IBROs, specifically addressing limitations associated with Fontan circulation in children with single ventricle defects. An electro-hydraulic actuation systems utilizing Peano-HASEL actuators and expandable soft tips aim to restore pulsatility and enhance blood flow within the Fontan Conduit, thereby improving overall cardiac output. The investigated strategy achieved over 90% conduit occlusion and doubled the blood flow within the conduit. Concurrently, a novel sensing system for the aortic blood pressure facilitates continuous monitoring of cardiac function, crucial for evaluating the performance of the restored Fontan circulation. The innovative technology incorporates a MEMS pressure sensor known for its precision in readings, high signal-to-noise ratio, long operational lifespan, miniaturized electronics with durable packaging, and capabilities for real-time monitoring. Moreover, its silicone-based soft components ensure safe tissue contact, stretchability, and biocompatibility, making it well-suited for long-term medical monitoring in implantable settings.
The emphasis on soft, miniaturized sensing and actuation solutions marks a pivotal advancement in the development of IBROs across diverse anatomical regions, pushing the evolution towards fully integrated implantable devices. These integrated robotic systems, capable of efficient operation within the body through an onboard approach, signify a significant advancement towards the development of the first truly implantable IBROs, marking a notable advancement beyond the current state of the art.
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