PMID- 34723442
OWN - NLM
STAT- MEDLINE
DCOM- 20220314
LR  - 20231105
IS  - 2198-3844 (Electronic)
IS  - 2198-3844 (Linking)
VI  - 9
IP  - 1
DP  - 2022 Jan
TI  - Thermoset Shape Memory Polymer Variable Stiffness 4D Robotic Catheters.
PG  - e2103277
LID - 10.1002/advs.202103277 [doi]
LID - 2103277
AB  - Variable stiffness catheters are typically composed of an encapsulated core. The 
      core is usually composed of a low melting point alloy (LMPA) or a thermoplastic 
      polymer (TP). In both cases, there is a need to encapsulate the core with an 
      elastic material. This imposes a limit to the volume of variable stiffness (VS) 
      material and limits miniaturization. This paper proposes a new approach that 
      relies on the use of thermosetting materials. The variable stiffness catheter 
      (VSC) proposed in this work eliminates the necessity for an encapsulation layer 
      and is made of a unique biocompatible thermoset polymer with an embedded heating 
      system. This significantly reduces the final diameter, improves 
      manufacturability, and increases safety in the event of complications. The device 
      can be scaled to sub-millimeter dimensions, while maintaining a high stiffness 
      change. In addition, integration into a magnetic actuation system allows for 
      precise actuation of one or multiple tools.
CI  - (c) 2021 The Authors. Advanced Science published by Wiley-VCH GmbH.
FAU - Mattmann, Michael
AU  - Mattmann M
AUID- ORCID: 0000-0002-6365-6336
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - De Marco, Carmela
AU  - De Marco C
AUID- ORCID: 0000-0001-6478-3508
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - Briatico, Francesco
AU  - Briatico F
AD  - Department of Chemistry, Materials and Chemical Engineering, Politecnico di 
      Milano, Milan, 20131, Italy.
FAU - Tagliabue, Stefano
AU  - Tagliabue S
AD  - Department of Chemistry, Materials and Chemical Engineering, Politecnico di 
      Milano, Milan, 20131, Italy.
FAU - Colusso, Aron
AU  - Colusso A
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - Chen, Xiang-Zhong
AU  - Chen XZ
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - Lussi, Jonas
AU  - Lussi J
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - Chautems, Christophe
AU  - Chautems C
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - Pane, Salvador
AU  - Pane S
AUID- ORCID: 0000-0003-0147-8287
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
FAU - Nelson, Bradley
AU  - Nelson B
AD  - Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 
      Zurich, CH-8092, Switzerland.
LA  - eng
GR  - 743217/ERC_/European Research Council/International
GR  - 771565/ERC_/European Research Council/International
PT  - Journal Article
PT  - Research Support, Non-U.S. Gov't
DEP - 20211031
PL  - Germany
TA  - Adv Sci (Weinh)
JT  - Advanced science (Weinheim, Baden-Wurttemberg, Germany)
JID - 101664569
RN  - 0 (Smart Materials)
SB  - IM
MH  - *Catheters
MH  - Equipment Design/*methods
MH  - Humans
MH  - Robotics/*methods
MH  - Smart Materials/*chemistry
PMC - PMC8728812
OTO - NOTNLM
OT  - catheters
OT  - composite materials
OT  - shape memory polymers
OT  - thermoset polymers
OT  - variable stiffness
COIS- The authors declare no conflict of interest.
EDAT- 2021/11/02 06:00
MHDA- 2022/03/15 06:00
PMCR- 2021/10/31
CRDT- 2021/11/01 09:43
PHST- 2021/08/02 00:00 [received]
PHST- 2021/11/02 06:00 [pubmed]
PHST- 2022/03/15 06:00 [medline]
PHST- 2021/11/01 09:43 [entrez]
PHST- 2021/10/31 00:00 [pmc-release]
AID - ADVS202103277 [pii]
AID - 10.1002/advs.202103277 [doi]
PST - ppublish
SO  - Adv Sci (Weinh). 2022 Jan;9(1):e2103277. doi: 10.1002/advs.202103277. Epub 2021 
      Oct 31.