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Magnetic robotics obviate the physical connections between the actuators andend effectors resulting in ultra-minimally invasive surgeries. Even though sucha wireless actuation method is highly advantageous in medical applications, thetrade-off between the applied force and miniature magnetic end effectordimensions has been one of the main challenges in practical applications inclinically relevant conditions. This trade-off is crucial for applicationswhere in-tissue penetration is required (e.g., needle access, biopsy, andsuturing). To increase the forces of such magnetic miniature end effectors topractically useful levels, we propose an impact-force-based suturing needlethat is capable of penetrating into in-vitro and ex-vivo samples with 3-DoFplanar freedom (planar positioning and in-plane orienting). The proposedoptimized design is a custom-built 12 G needle that can generate 1.16 Npenetration force which is 56 times stronger than its magnetic counterpartswith the same size without such an impact force. By containing the fast-movingpermanent magnet within the needle in a confined tubular structure, themovement of the overall needle remains slow and easily controllable. Theachieved force is in the range of tissue penetration limits allowing the needleto be able to penetrate through tissues to follow a suturing method in ateleoperated fashion. We demonstrated in-vitro needle penetration into a baconstrip and successful suturing of a gauze mesh onto an agar gel mimicking ahernia repair procedure.

Overcoming the Force Limitations of Magnetic Robotic Surgery: Impact-based Tetherless Suturing