[robotics-worldwide] Call for Short Papers ­- IROS 2012 Workshop -­ Magnetically Actuated Multiscale Medical Robots

Dupont, Pierre Pierre.Dupont at childrens.harvard.edu
Tue Jun 12 11:41:51 PDT 2012


Full Day Workshop on Magnetically Actuated Multiscale Medical Robots

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date: Friday October 12, 2012
Location: Vila Moura, Algarve, Portugal

Workshop website:

We are soliciting short papers representing work in progress on
magnetically actuated medical devices. The work may be theoretical or
applied and should have the potential to be adapted to medical
applications. The papers should be 2 pages long and submitted in the IROS
2012 pdf paper format. Papers will be reviewed for quality and relevance.
At least one author of each accepted papers must attend the workshop. All
accepted papers will be included in the IROS 2012 Workshops and Tutorials
Proceedings CD and will be presented as posters during the workshop.
Presenters will be given the opportunity to advertise their work in a
teaser talk. An award will be given for best workshop poster/teaser. The
important dates are as follows:

August 01    ­ Paper submission deadline
August 15    ­ Notification of acceptance
September 01 ­ Final paper due

Papers should be submitted by email to:
Christos.Bergeles at childrens.harvard.edu<mailto:Christos.Bergeles at childrens.harvard.edu> (with the subject line: IROS short

A broad variety of magnetically actuated robotic devices are being
developed for minimally invasive diagnosis and intervention in many
regions of the human body including the eye, ear, abdomen, heart, brain
and vasculature. Potential applications include targeted drug delivery,
diagnostic imaging, insertion of implants, biopsy and tissue ablation.
Prototype devices range in size from sub-millimeter to tens of centimeters
and vary in concept from swimming or bacteria-propelled microrobots to
catheters, capsule endoscopes, and robotic mechanisms. Even though the
design and implementation of each system poses unique challenges, these
devices are based on the same underlying physical principles. Little
effort has been devoted, however, to exploring and exploiting these
commonalities. This full-day workshop will bring together researchers from
academic, industrial, and clinical environments, in order to identify
unifying research questions and approaches in the design, implementation,
and evaluation of magnetically actuated interventional devices.

Traditional robots rely on the stiffness of a mechanical arm to precisely
control motion and to apply forces at their tips. As medical robots become
smaller and venture deeper into the human body along its natural
passageways, it becomes impractical to provide a stiff mechanical coupling
to the outside world. This has led to the exploration of concepts for the
wireless generation of forces to either augment or replace mechanically
transmitted forces. In the last few years, the use of magnetically
generated forces and torques has emerged as a promising technique that can
provide both sufficient power and precise control.

Electromagnetic and permanent magnetic systems have demonstrated the
capability to propel miniature devices, steer catheters, and navigate
capsule endoscopes and helical swimmers within the human body. In
addition, MRI scanners have been used to combine magnetic actuation and MR
imaging to enable robot tracking and control for intravascular navigation
and needle biopsy.

Developing any of these magnetic actuation systems and medical devices for
clinical use poses a common set of problems, such as optimization of the
operational workspace, generation of appropriate forces/torques, accurate
device localization, and minimization of the magnetic actuation system
footprint. Additionally, such interventional devices share common
challenges with respect to clinical acceptance and commercial success. To
date, however, interested investigators have pursued solutions to these
problems independently. The objective of this workshop is to bring
researchers together to identify unifying themes and solution strategies
for this class of medical robots, to build new partnerships between
researchers, and to spark new ideas for moving the field forward.

- Capsule endoscopy
- Catheter steering
- Drug delivery
- MRI-based actuation and imaging
- Precise implant insertion
- Robot actuation in solid tissue
- Swimming microrobots and millirobots

- Jake Abbott, University of Utah
- Pierre Dupont, Harvard Medical School
- Antoine Ferreira, ENSI Bourges
- Kazushi Ishiyama, Tohoku University
- Henrik Keller, Siemens, Erlangen
- Gabor Kosa, Tel Aviv University
- Sylvain Martel, Ecole Polytechnique Montreal
- Arianna Menciassi, Scuola Superiore Sant' Anna
- Brad Nelson, ETH Zurich
- Jong-Oh Park, Chonnam National University
- Benjamin Shapiro, University of Maryland
- Metin Sitti, Carnegie Mellon University
- Ilker Tunay, Stereotaxis, St. Louis

Pierre E. Dupont
Chief of Pediatric Cardiac Bioengineering
Boston Children's Hospital, Harvard Medical School
Pierre.Dupont at childrens.harvard.edu<mailto:Pierre.Dupont at childrens.harvard.edu>

Christos Bergeles
Research Fellow
Boston Children's Hospital, Harvard Medical School
Christos.Bergeles at childrens.harvard.edu<mailto:Christos.Bergeles at childrens.harvard.edu>

Panagiotis Vartholomeos
Research Fellow
Boston Children's Hospital, Harvard Medical School
Panagiotis.Vartholomeos at childrens.harvard.edu<mailto:Panagiotis.Vartholomeos at childrens.harvard.edu>

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