Explanipedia

Degradation of 1,4-Dioxane by Au/TiO2 Janus Nanoparticles Under Ultraviolet Light: Experiments and Modeling Open

Yangyuan Ji, Matthew Tao, Lamar O. Mair, Amit Kumar Singh, Yuhang Fang , et al. · 2025

Advanced oxidation processes (AOPs) show significant promise to degrade recalcitrant water contaminants, such as 1,4-dioxane, but slow degradation kinetics limit the energy efficiency of this technology. We realized substantial enhancement…

Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery Open

Kimia Forghani, Suraj Raval, Lamar O. Mair, Axel Krieger, Yancy Diaz-Mercado · 2025

Automating surgical systems enhances precision and safety while reducing human involvement in high-risk environments. A major challenge in automating surgical procedures like suturing is accurately modeling the suture thread, a highly flex…

Strong magnetic actuation system with enhanced field articulation through stacks of individually addressed coils Open

Önder Erin, Xinhao Chen, Adrian Bell, Suraj Raval, Trevor J. Schwehr , et al. · 2024

Miniaturization of medical tools promises to revolutionize surgery by reducing tissue trauma and accelerating recovery. Magnetic untethered devices, with their ability to access hard-to-reach areas without physical connections, emerge as p…

A Control Interface for Autonomous Positioning of Magnetically Actuated Spheres Using an Artificial Neural Network Open

Victor Huynh, Basam Mutawak, Minh K. Quan, Elizabeth Ankrah, Pouya Kassaeiyan , et al. · 2024

Electromagnet arrays show significant potential in the untethered guidance of particles, devices, and eventually robots. However, complications in obtaining accurate models of electromagnetic fields pose challenges for precision control. M…

Singularity-Free Approximate Waypoint Tracking Controller for Underactuated Magnetic Robots Open

Suraj Raval, Anuruddha Bhattacharjee, Xinhao Chen, Lamar O. Mair, Axel Krieger , et al. · 2024

Mechanisms of Highly Efficient Photocatalytic Pollutant Degradation by Au/TiO2 Janus Nanoparticles Open

Matthew Tao, Yangyuan Ji, Lamar O. Mair, Yuhang Fang, Amit Pratap Singh , et al. · 2023

Semiconductor nanoparticles partially coated with metals have been widely used to degrade contaminants in water, but the physical mechanisms underlying degradation are poorly understood, limiting their real-world implementation. Here, we r…

Time-Scale Separation Analysis for Surgical Needle Control in Electromagnetic Robotic Systems Open

Suraj Raval, Lamar O. Mair, Will Pryor, Önder Erin, Trevor J. Schwehr , et al. · 2023

In this work, we use the theory of time-scale separation to analyze motion of magnetic needles powered by electromagnetic coils for surgical tasks. In developing model-based controllers for such systems, it is often assumed that the magnet…

Corrigendum to An electromagnetically actuated magneto-nanozyme synergetic therapy platform for destruction and elimination of biofilm [Chem Eng J 431 (2022) 133971] Open

Xinxin Ma, Longchen Wang, Peng Wang, Zihao Liu, Junnian Hao , et al. · 2022

Control of Magnetic Surgical Robots With Model-Based Simulators and Reinforcement Learning Open

Yotam Barnoy, Önder Erin, Suraj Raval, Will Pryor, Lamar O. Mair , et al. · 2022

Magnetically manipulated medical robots are a promising alternative to current robotic platforms, allowing for miniaturization and tetherless actuation. Controlling such systems autonomously may enable safe, accurate operation. However, cl…

Opening the Blood Brain Barrier with an Electropermanent Magnet System Open

Sahar Jafari, Ittai S. Baum, O. G. Udalov, Yi‐Chien Lee, Olga Rodriguez , et al. · 2022

Opening the blood brain barrier (BBB) under imaging guidance may be useful for the treatment of many brain disorders. Rapidly applied magnetic fields have the potential to generate electric fields in brain tissue that, if properly timed, m…

Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent With Low-Error Numerical Magnetic Model Estimation Open

Önder Erin, Suraj Raval, Trevor J. Schwehr, Will Pryor, Yotam Barnoy , et al. · 2022

Magnetic actuation holds promise for wirelessly controlling small, magnetic surgical tools and may enable the next generation of ultra minimally invasive surgical robotic systems. Precise torque and force exertion are required for safe sur…

Overcoming the Force Limitations of Magnetic Robotic Surgery: Magnetic Pulse Actuated Collisions for Tissue‐Penetrating‐Needle for Tetherless Interventions Open

Önder Erin, Xiaolong Liu, Jiawei Ge, Justin D. Opfermann, Yotam Barnoy , et al. · 2022

Medical Robotics Robot miniaturization and magnetic forces scale inversely. Providing strong magnetic forces at small scales is a critical challenge for miniature magnetic robots in minimally invasive applications. The presented MPACT-Need…

Overcoming the Force Limitations of Magnetic Robotic Surgery: Magnetic Pulse Actuated Collisions for Tissue‐Penetrating‐Needle for Tetherless Interventions Open

Önder Erin, Xiaolong Liu, Jiawei Ge, Justin D. Opfermann, Yotam Barnoy , et al. · 2022

The field of magnetic robotics aims to obviate physical connections between the actuators and end‐effectors. Such tetherless control may enable new ultraminimally invasive surgical manipulations in clinical settings. While wireless actuati…

An electromagnetically actuated magneto-nanozyme mediated synergistic therapy for destruction and eradication of biofilm Open

Xinxin Ma, Longchen Wang, Peng Wang, Zihao Liu, Junnian Hao , et al. · 2021

The emergence of bacterial resistance and rapid reconstruction of biofilm pose great challenges to biofilm-associated infections. Magnetically actuated micro-/nanorobots have shown great prospects in various medical applications. In this w…

Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo Open

Lamar O. Mair, Sagar Chowdhury, Xiaolong Liu, Önder Erin, O. G. Udalov , et al. · 2021

The application of force in surgical settings is typically accomplished via physical tethers to the surgical tool. While physical tethers are common and critical, some internal surgical procedures may benefit from a tetherless operation of…

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue Open

Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar O. Mair , et al. · 2021

Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context …

Soft Capsule Magnetic Millirobots for Region-Specific Drug Delivery in the Central Nervous System Open

Lamar O. Mair, G Adam, Sagar Chowdhury, Aaron C. Davis, Dian R. Arifin , et al. · 2021

Small soft robotic systems are being explored for myriad applications in medicine. Specifically, magnetically actuated microrobots capable of remote manipulation hold significant potential for the targeted delivery of therapeutics and biol…

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

Önder Erin, Xiaolong Liu, Jiawei Ge, Lamar O. Mair, Yotam Barnoy , et al. · 2021

Magnetic robotics obviate the physical connections between the actuators and end effectors resulting in ultra-minimally invasive surgeries. Even though such a wireless actuation method is highly advantageous in medical applications, the tr…

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue Open

Will Pryor, Yotam Barnoy, Suraj Raval, Xiaolong Liu, Lamar O. Mair , et al. · 2021

Real-time visual localization of needles is necessary for various surgical applications, including surgical automation and visual feedback. In this study we investigate localization and autonomous robotic control of needles in the context …

Size-Uniform 200 nm Particles: Fabrication and Application to Magnetofection Open

Lamar O. Mair, Kris Ford, Md. Rowshon Alam, Ryszard Kole, Michael Fisher , et al. · 2020

We report on the fabrication of arrays of mono- and multimetallic particles via metal evaporation onto lithographically patterned posts, as well as the magnetic force calibration and successful magnetofection of iron particles grown via th…

Analysis of driven nanorod transport through a biopolymer matrix Open

Lamar O. Mair, I. Weinberg, Alek Nacev, Mario Urdaneta, Pavel Y. Stepanov , et al. · 2020

Applying magnetic fields to guide and retain drug-loaded magnetic particles in vivo has been proposed as a way of treating illnesses. Largely, these efforts have been targeted at tumors. One significant barrier to long range transport with…

Towards Autonomous Control of Magnetic Suture Needles Open

Matthew Fan, Xiaolong Liu, Kamakshi Jain, Daniel Lerner, Lamar O. Mair , et al. · 2020

This paper proposes a magnetic needle steering controller to manipulate mesoscale magnetic suture needles for executing planned suturing motion. This is an initial step towards our research objective: enabling autonomous control of magneti…

MagnetoSuture: Tetherless Manipulation of Suture Needles Open

Lamar O. Mair, Xiaolong Liu, Bhargav Dandamudi, Kamakshi Jain, Sagar Chowdhury , et al. · 2020

This paper demonstrates the feasibility of ligation and tissue penetration for surgical suturing tasks using magnetically actuated suture needles. Manipulation of suture needles in minimally invasive surgery involves using articulated manu…

Magnetic Microdevices for MRI-Based Detection of SARS-CoV-2 Viruses Open

Lamar O. Mair, Olivia Hale, Sahar Jafari, Cheng Chen, O. G. Udalov , et al. · 2020

The preliminary results presented in this letter provide justification for further studies exploring the potential diagnostic role of magnetic microdevices in assessing the presence and concentration of SARS-CoV-2 viruses.

Fabrication and Manipulation of Micro- and Nano-Scale Magnetic Particles: Application to Magnetofection, Nanopositioning, and Drug Delivery Open

Lamar O. Mair · 2019

Magnetic particles offer scientists a unique opportunity – the ability to apply forces to these particles from a distance by means of a magnetic field gradient. This property becomes increasingly useful for probing and prodding physical pr…

Nanocomposites of ferroelectric liquid crystals and FeCo nanoparticles: towards a magnetic response via the application of a small electric field Open

Patricio Romero-Hasler, Lynn K. Kurihara, Lamar O. Mair, I. Weinberg, Eduardo Soto‐Bustamante , et al. · 2019

We study a nanocomposite consisting of a ferroelectric liquid crystal and a magnetic nanoparticle in order to explore the possibility of using it as a magnetic resonant imaging contrast agent which will measure a field of 20 V/m. To achiev…

Magnetically Aligned Nanorods in Alginate Capsules (MANiACs): Soft Matter Tumbling Robots for Manipulation and Drug Delivery Open

Lamar O. Mair, Sagar Chowdhury, Genaro Alberto Paredes Juárez, Maria Guix, Chenghao Bi , et al. · 2019

Soft, untethered microrobots composed of biocompatible materials for completing micromanipulation and drug delivery tasks in lab-on-a-chip and medical scenarios are currently being developed. Alginate holds significant potential in medical…

Image-guided Placement of Magnetic Neuroparticles as a Potential High-Resolution Brain-Machine Interface Open

I. Weinberg, Lamar O. Mair, Sahar Jafari, José Miguel Algarín, Jose Maria Benlloch Baviera , et al. · 2018

We are developing methods of noninvasively delivering magnetic neuroparticles™ via intranasal administration followed by image-guided magnetic propulsion to selected locations in the brain. Once placed, the particles can activate neurons v…

Electric-field responsive contrast agent based on liquid crystals and magnetic nanoparticles Open

Lamar O. Mair, L. J. Martı́nez-Miranda, Lynn K. Kurihara, Aleksandar Nacev, Ryan Hilaman , et al. · 2018

The properties of liquid crystal-magnetic nanoparticle composites have potential for sensing in the body. We study the response of a liquid crystal-magnetic nanoparticle (LC-MNP) composite to applied potentials of hundreds of volts per met…

Magnetically targeted delivery through cartilage Open

Sahar Jafari, Lamar O. Mair, Sagar Chowdhury, Alek Nacev, Ryan Hilaman , et al. · 2017

In this study, we have invented a method of delivering drugs deep into articular cartilage with shaped dynamic magnetic fields acting on small metallic magnetic nanoparticles with polyethylene glycol coating and average diameter of 30 nm. …

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