Doctoral Candidate - University of Twente
Jakub Sikorski received his M.Eng. degree in biomedical engineering from the University of Glasgow, Glasgow, United Kingdom in 2015. Currently he is working towards his doctoral degree at the Surgical Robotics Laboratory, Univeristy of Twente, Enschede, The Netherlands (graduation date: 30.09.2020). His work focuses on design, modelling and control of magnetic catheters for minimally-invasive surgical procedures. His research interests include continuum robotics, magnetic actuation, mechatronic design, and control of medical devices.
A Matter of Perspective: From Magnetically-Actuated Catheters to Catheters for Magnetic Actuation
Catheters are flexible tubes used in minimally-invasive surgery. Their compliant structure and sleek shape facilitate their access to key organs such as heart or brain. However, catheters are challenging to steer once inside the body, which limits their applicability to a narrow range of tasks. Magnetic actuation is a novel technique used to enhance the dexterity of catheters by integrating into their structure coils or permanent magnets, which respond to external fields. In this presentation, we talk about how magnetic actuation can be used to create catheters that are capable of exhibiting rich, autonomous behaviour. We demonstrate functionalized magnetic catheters developed within the Surgical Robotics Laboratory, University of Twente for advanced tasks, such as grasping or targeted drug delivery. Finally, we approach the catheters from another perspective, presenting them as potential tools for magnetic actuation of yet smaller objects – the medical microrobotic agents.