Microrobots have the potential to revolutionize many aspects of medicine. These untethered, wirelessly controlled and powered devices will make existing therapeutic and diagnostic procedures less invasive and will enable new procedures never before possible. The aim of this review is threefold: first, to provide a comprehensive survey of the technological state of the art in medical microrobots; second, to explore the potential impact of medical microrobots and inspire future research in this field; and third, to provide a collection of valuable information and engineering tools for the design of medical microrobots.

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Microrobots for Minimally Invasive Medicine

RF harvesting circuits have been demonstrated for more than 50 years, but only a few have been able to harvest energy from freely available ambient (i.e., non-dedicated) RF sources. In this paper, our objectives were to realize harvester operation at typical ambient RF power levels found within urban and semi-urban environments. To explore the potential for ambient RF energy harvesting, a city-wide RF spectral survey was undertaken from outside all of the 270 London Underground stations at street level. Using the results from this survey, four harvesters (comprising antenna, impedance-matching network, rectifier, maximum power point tracking interface, and storage element) were designed to cover four frequency bands from the largest RF contributors (DTV, GSM900, GSM1800, and 3G) within the ultrahigh frequency (0.3-3 GHz) part of the frequency spectrum. Prototypes were designed and fabricated for each band. The overall end-to-end efficiency of the prototypes using realistic input RF power sources is measured; with our first GSM900 prototype giving an efficiency of 40%. Approximately half of the London Underground stations were found to be suitable locations for harvesting ambient RF energy using our four prototypes. Furthermore, multiband array architectures were designed and fabricated to provide a broader freedom of operation. Finally, an output dc power density comparison was made between all the ambient RF energy harvesters, as well as alternative energy harvesting technologies, and for the first time, it is shown that ambient RF harvesting can be competitive with the other technologies.

Ambient RF Energy Harvesting in Urban and Semi-Urban Environments

The Health Council of the Netherlands (HCN) and other organisations hold the basic assumption that induced electric current and the generation and absorption of heat in biological material caused by radiofrequency electromagnetic fields are the only causal effects with possible adverse consequences for human health that have been scientifically established to date. Hence, the exposure guidelines for the 10 MHz-10 GHz frequency range are based on avoiding adverse effects of increased temperatures that may occur of the entire human body at a specific absorption rate (SAR) level above 4 W/kg. During the workshop on Thermal Aspects of Radio Frequency Exposure on 11-12 January 2010 in Gaithersburg, Maryland, USA, the question was raised whether there would be a practical advantage in shifting from expressing the exposure limits in SAR to expressing them in terms of a maximum allowable temperature increase. This would mean defining adverse time-temperature thresholds. In this paper, the HCN discusses the need for this, considering six points: consistency, applicability, quantification, causality, comprehensibility and acceptability. The HCN concludes that it seems unlikely that a change of dosimetric quantity will help us forward in the discussion on the scientific controversies regarding the existence or non-existence of non-thermal effects in humans following long duration, low intensity exposure to electromagnetic fields. Therefore, the HCN favours maintaining the current approach of basic restrictions and reference levels being expressed as SAR and in V/m or µT, respectively. © 2011 Informa UK Ltd All rights reserved.

Health Council of the Netherlands: No need to change from SAR to time-temperature relation in electromagnetic fields exposure limits

Guidelines on limits of exposure to ultraviolet radiation of wavelengths between 180 nm and 400 nm (incoherent optical radiation)

After discussing the rationale and assumptions of the ANSI Z136.1-2000 Standard for protection of the human eye from laser exposure, we present the concise formulation of the exposure limits expressed as maximum permissible radiant exposure (in J/cm2) for light overfilling the pupil. We then translate the Standard to a form that is more practical for typical ophthalmic devices or in vision research situations, implementing the special qualifications of the Standard. The safety limits are then expressed as radiant power (watts) entering the pupil of the eye. Exposure by repetitive pulses is also addressed, as this is frequently employed in ophthalmic applications. Examples are given that will familiarize potential users with this format.

Maximum permissible exposures for ocular safety (ANSI 2000), with emphasis on ophthalmic devices.

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International commission on non-ionizing radiation protection.

Epidemiological evidence showing a consistent association between the risk of childhood leukaemia and exposure to power frequency magnetic fields has been accumulating. This debate considers the additional precautionary intervention needed to manage this risk, when it exceeds the protection afforded by the exposure guidelines as recommended by the International Commission on Non-Ionizing Radiation Protection. The Bradford-Hill Criteria are guidelines for evaluating the scientific evidence that low frequency magnetic fields cause childhood leukaemia. The criteria are used for assessing the strength of scientific evidence and here have been applied to considering the strength of evidence that exposures to extremely low frequency magnetic fields may increase the risk of childhood leukaemia. The applicability of precaution is considered using the risk management framework outlined in a European Commission (EC) communication on the Precautionary Principle. That communication advises that measures should be proportionate, non-discriminatory, consistent with similar measures already taken, based on an examination of the benefits and costs of action and inaction, and subject to review in the light of new scientific findings. The main evidence for a risk is an epidemiological association observed in several studies and meta-analyses; however, the number of highly exposed children is small and the association could be due to a combination of selection bias, confounding and chance. Corroborating experimental evidence is limited insofar as there is no clear indication of harm at the field levels implicated; however, the aetiology of childhood leukaemia is poorly understood. Taking a precautionary approach suggests that low-cost intervention to reduce exposure is appropriate. This assumes that if the risk is real, its impact is likely to be small. It also recognises the consequential cost of any major intervention. The recommendation is controversial in that other interpretations of the data are possible, and low-cost intervention may not fully alleviate the risk. The debate shows how the EC risk management framework can be used to apply the Precautionary Principle to small and uncertain public health risks. However, despite the need for evidence-based policy making, many of the decisions remain value driven and therefore subjective.

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Alastair McKinlay

Papers

International commission on non-ionizing radiation protection.

A precautionary public health protection strategy for the possible risk of childhood leukaemia from exposure to power frequency magnetic fields

The ultrasonic boom—Focus on health and safety

Workshop round-up session rapporteur's report.

Exposure metrics and dosimetry for EMF epidemiology : proceedings of a workshop, Chilton, UK, September 7-9 1998