Quentin Boehler

Last Name

Boehler

First Name

Quentin

ORCID

0000-0001-7573-3135

Organisational unit

09891 - Boehler, Quentin / Boehler, Quentin

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Publications1 - 10 of 55

Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery
Chautems, Christophe; Tonazzini, Alice; Boehler, Quentin; et al. (2020)
Advanced Intelligent Systems
Magnetically Guided Microcatheter for Targeted Injection of Magnetic Particle Swarms
Torlakcik, Harun; Sevim, Semih; Alves, Pedro; et al. (2024)
Advanced Science
The initial delivery of small-scale magnetic devices such as microrobots is a key, but often overlooked, aspect for their use in clinical applications. The deployment of these devices within the dynamic environment of the human body presents significant challenges due to their dispersion caused by circulatory flows. Here, a method is introduced to effectively deliver a swarm of magnetic nanoparticles in fluidic flows. This approach integrates a magnetically navigated robotic microcatheter equipped with a reservoir for storing the magnetic nanoparticles. The microfluidic flow within the reservoir facilitates the injection of magnetic nanoparticles into the fluid stream, and a magnetic field gradient guides the swarm through the oscillatory flow to a target site. The microcatheter and reservoir are engineered to enable magnetic steering and injection of the magnetic nanoparticles. To demonstrate this approach, experiments are conducted utilizing a spinal cord phantom simulating intrathecal catheter delivery for applications in the central nervous system. These results demonstrate that the proposed microcatheter successfully concentrates nanoparticles near the desired location through the precise manipulation of magnetic field gradients, offering a promising solution for the controlled deployment of untethered magnetic micro-/nanodevices within the complex physiological circulatory systems of the human body.
Clinically ready magnetic microrobots for targeted therapies
Landers, Fabian C.; Hertle, Lukas; Pustovalov, Vitaly; et al. (2025)
Science
Systemic drug administration often causes off-target effects, limiting the efficacy of advanced therapies. Targeted drug delivery approaches increase local drug concentrations at the diseased site while minimizing systemic drug exposure. We present a magnetically guided microrobotic drug delivery platform capable of precise navigation under physiological conditions. This platform integrates a clinical electromagnetic navigation system, a custom-designed release catheter, and a dissolvable capsule for accurate therapeutic delivery. In vitro tests showed precise navigation in human vasculature models, and in vivo experiments confirmed tracking under fluoroscopy and successful navigation in large animal models. The microrobot balances magnetic material concentration, contrast agent loading, and therapeutic drug capacity, offering a promising solution for precise targeted drug delivery.
Fast‐Response Variable‐Stiffness Magnetic Catheters for Minimally Invasive Surgery
Piskarev, Yegor; Sun, Yi; Righi, Matteo; et al. (2024)
Advanced Science
In minimally invasive surgery, such as cardiac ablation, magnetically steered catheters made of variable stiffness materials can enable higher dexterity and higher force application to human tissue. However, the long transition time between soft and rigid states leads to a significant increase in procedure duration. Here, a fast-response, multisegmented catheter is described for minimally invasive surgery made of variable-stiffness thread (FRVST) that encapsulates a helical cooling channel. The rapid stiffness change in the FRVST, composed of a nontoxic shape memory polymer, is achieved by an active cooling system that pumps water through the helical channel. The FRVST displays a 66 times stiffness change and a 26 times transition enhancement compare with the noncooled version. The catheter allows for selective bending of each segment up to 127° in air and up to 76° in water under an 80 mT external magnetic field. The inner working channel can be used for cooling an ablation tip during a procedure and for information exchange via the deployment of wires or surgical tools.
Simultaneous Localization and Actuation Using Electromagnetic Navigation Systems
von Arx, Denis; Fischer, Cedric; Torlakcik, Harun; et al. (2024)
IEEE Transactions on Robotics
Remote magnetic navigation provides a promising approach for improving the maneuverability and safety of surgical tools, such as catheters and endoscopes, in complex anatomies. The lack of existing localization systems compatible with this modality, beyond fluoroscopy and its harmful ionizing radiation, impedes its translation to clinical practice. To address this challenge, we propose a localization method that achieves full pose estimation by superimposing oscillating magnetic fields for localization onto actuation fields generated by an electromagnetic navigation system. The resulting magnetic field is measured using a three-axis magnetic field sensor embedded in the magnetic device to be localized. The method is evaluated on a three-coil system, and simultaneous actuation and localization is demonstrated with a magnetic catheter prototype with a Hall-effect sensor embedded at its tip. We demonstrate position estimation with mean accuracy and precision below 1 mm, and orientation estimation with mean errors below 2 deg at 10 Hz in a workspace of 80 x 80 x 60 mm. This contribution aims to advance the clinical adoption of remote magnetic navigation in minimally invasive surgery.
Automated tracheal intubation in an airway manikin using a robotic endoscope: a proof of concept study
Biro, Peter; Hofmann, Phyllis; Gage, Dave; et al. (2020)
Anaesthesia
Extended Reality Platform for Teleoperated Neurovascular Interventions using Electromagnetic Navigation Systems
Karst, Matthias; Ehmke, Claas; Heemeyer, Florian; et al. (2025)
The Hamlyn Symposium on Medical Robotics. Back to the Future: Telesurgery in 2025
Advancing Minimally Invasive Precision Surgery in Open Cavities with Robotic Flexible Endoscopy
Mattille, Michelle; Mesot, Alexandre; Weisskopf, Miriam; et al. (2025)
arXiv
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open cavities remains challenging. The lack of anatomical constraints and the inherent flexibility of such devices complicate their control, while the limited field of view of endoscopes restricts situational awareness. We present a robotic platform designed to overcome these challenges and demonstrate its potential in fetoscopic laser coagulation, a complex MIS procedure typically performed only by highly experienced surgeons. Our system combines a magnetically actuated flexible endoscope with teleoperated and semi-autonomous navigation capabilities for performing targeted laser ablations. To enhance surgical awareness, the platform reconstructs real-time mosaics of the endoscopic scene, providing an extended and continuous visual context. The ability of this system to address the key limitations of MIS in open spaces is validated in vivo in an ovine model.
A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control
Lussi, Jonas; Mattmann, Michael; Sevim, Semih; et al. (2021)
Advanced Science
Minimally invasive robotic surgery often requires functional tools that can change their compliance to adapt to the environment and surgical needs. This paper proposes a submillimeter continuous variable stiffness (CVS) catheter equipped with a phasechange alloy that has a high stiffness variation in its different states, allowing for rapid compliance control. Variable stiffness is achieved through a variable phase boundary in the alloy due to a controlled radial temperature gradient. This catheter can be safely navigated in its soft state and rigidified to the required stiffness during operation to apply a desired force at the tip. The maximal contact force that the catheter applies to tissue can be continuously modified by a factor of 400 (~20 mN – 8N). The catheter is equipped with a magnet and a micro-gripper to perform a fully robotic ophthalmic minimally invasive surgery on an eye phantom by means of an electromagnetic navigation system (eMNS).
Parametric Design of Continuum Robots Using Interlocking Ball Joints
Mesot, Alexandre; Boehler, Quentin; Heemeyer, Florian; et al. (2025)
Advanced Intelligent Systems
Continuum robots are promising systems for minimally invasive surgical procedures, enabling safe and dexterous access to deep regions in the human body. Their design and fabrication can be adapted to a wide range of application‐specific requirements. Unfortunately, the current lack of standardized methods for producing these designs impedes the development and adoption of new continuum robots (CRs). Herein, a parametric design methodology is introduced for producing a wide variety of CRsbased on application‐specific requirements. This approach is based on interlocking ball joint subunits that enable the generation of modular systems. The methodology is demonstrated by designing a magnetically actuated continuum robot for cardiac ablations. The design is generated using an open‐source parametric computer‐aided design toolbox, and prototypes are experimentally validated in vitro and ex vivo, demonstrating the ability of the toolbox to produce functional systems with minimal effort and input from the user.

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Quentin Boehler

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