Biopsy with thermally-responsive untethered microtools

Evin Gultepe, Jatinder S. Randhawa, Sachin Kadam, Sumitaka Yamanaka, Florin M. Selaru, Eun J. Shin, Anthony N. Kalloo, David H. Gracias

Research output: Contribution to journalArticlepeer-review


Thermally activated, untethered microgrippers can reach narrow conduits in the body and be used to excise tissue for diagnostic analyses. As depicted in the figure, the feasibility of an in vivo biopsy of the porcine bile duct using untethered microgrippers is demonstrated.

Original languageEnglish (US)
Pages (from-to)514-519
Number of pages6
JournalAdvanced Materials
Issue number4
StatePublished - Jan 25 2013


  • actuators
  • microsurgery
  • robotics
  • self-assembly
  • self-folding
  • stimuli responsive materials

ASJC Scopus subject areas

  • Materials Science(all)
  • Mechanics of Materials
  • Mechanical Engineering


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