Magnetic soft robots have the combined advantages of contactless actuation, requiring no on-board power source, and having flexible bodies that can adapt to unstructured environments.In this study, four milli-scale are designed (Inchworm, Turtle, Quadruped Millipede) their actuation under external magnetic fields is investigated with objective reproducing multi-limbed motion patterns observed in nature.Magnetic properties incorporated into a silicone polymer by mixing ferromagnetic...

Magnetically-actuated soft robots have potential for medical application but require further innovation on functionality and biocompatibility. In this letter, a multi-segmented snake-inspired robot with dissolvable biocompatible segments is designed. The actuation response under external magnetic field investigated through simulations experiments. A dissolve-controllable mixture of gelatin, glycerol water (GGW) in mass ratio 1:5:6 used to form the structure robot. dissolution GGW mucus...

Soft and flexible magnetic robots have gained significant attention in the past decade. These are fabricated using magnetically-active elastomers, capable of large deformations, actuated remotely thus allowing for small robot size. This combination properties is appealing to minimally invasive surgical community, potentially navigation regions anatomy previously deemed inaccessible. Due low forces involved, one particular challenge functionalizing such devices. To address this limitation we...

Untethered soft robots have the potential to impact a variety of applications, particularly if they are capable controllable locomotion and dexterous manipulation. Magnetic fields can provide human-safe, contactless actuation, opening gates applications in confined spaces — for example, minimally invasive surgery. To translate these concepts into reality, being developed with different capabilities, such as functional components achieve motion object This paper investigates tandem actuation...

Abstract Advances in magnetoresponsive composites and (electro‐)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small‐scale robotic devices. Near‐field MSMs offer energy efficiency compactness by bringing the field source effectors close proximity. Current challenges near‐field MSM are limited programmability effector motion, dimensionality, ability perform collaborative tasks, structural flexibility. Herein, a new class is demonstrated that...

Compliant mechanisms achieve motion utilizing deformation of elastic members. However, analysis compliant for large deflections remains a significant challenge. In this paper, three-spring revolute–prismatic–revolute (RPR) pseudorigid-body (PRB) model short beams used in soft joints made elastomer material is presented. These differ from flexure-based which they demonstrate axial elongation effects upon tip loadings. The traditional PRB models based on long thin Euler failed to capture...

In the past decade, remote actuation through magnetic fields has been used for position and orientation control of continuum manipulators (CMs) with a single magnet at distal tip. By leveraging multiple points along length CM it is possible to achieve increasingly complex shapes, which could be interest in navigation tasks, example, minimally invasive surgery. this study we present an approach multi-point discretely magnetized CMs. The demonstrated manipulator that contains two permanent...

This paper introduces and validates a real-time dynamic predictive model based on neural network approach for soft continuum manipulators. The presented provides prediction framework using neural-network-based strategies mechanics principles. A time-space integration scheme is employed to discretize the continuous dynamics decouple equations translation rotation each node of manipulator. Then resulting architecture used develop distributed algorithms recurrent networks. proposed RNN-based...

Continuum manipulators have found several applications in surgical interventions like endoscopy, laparoscopy, and as end‐effectors for robots. coupled with magnetic actuation can be precisely maneuvered inside the human body. Recently, variable stiffness (VSMs) been introduced enhanced dexterity safe navigation. This study presents a new design of magnetically actuated VSM based on shape memory polymer (SMP) springs. The has silicone backbone enclosed within spring made SMP that change...

Magnetic continuum manipulators (MCMs) are a class of robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible structures contain combinations components and polymers to navigate long tortuous paths. In cylindrical MCM designs, significant trade-off exists between moment bending flexibility the ratio length diameter decreases. this study, we propose new design...

Abstract Magnetically‐actuated soft robots for medical applications are required to be functional, biocompatible, as well capable of robust motion inside human organs. In this paper, a ring‐shaped magnetic robot, with flexible biopolymeric film coating, on mucus‐coated surfaces is designed and investigated. The made from chitosan–glycerol (C–G) solution endows the robot locomotion capabilities diverse geometrical shapes orientations. By utilizing mucoadhesive locomotion, has potential carry...

Currently, gastrointestinal bleeding in the colon wall and small bowel is diagnosed treated with endoscopes. However, locations of this condition are often problematic to treat using traditional flexible tethered tools. New studies commonly consider untethered devices for solving problem. there still exists a gap extant literature, more research needed diagnose deliver drugs lower tract soft robotic carriers. This paper discusses development an untethered, magnetically-responsive...

Thermal ablation treatments (TATs) are promising alternatives to traditional surgery for bone cancer eradication. Among several TATs, radio frequency (RFA) has gained considerable ground in treating cancer. Therefore, tracking temperature is paramount ensuring complete tumor destruction without injuring adjacent structures. Despite the widespread use of RFA tumors, investigations on distribution during this procedure so far lacking. To date, only thermocouples and thermistors have been...

Magnetic actuation is a versatiletechnology, widely applied in medical robotics for noncontact steering of flexible instruments and untethered agents. In this article, we exploit the benefits technology by developing magnetically actuated catheter capable controlled ejection retrieval an magnetic capsule. The advanced manipulation system. scanning ultrasound used 3-D shape reconstruction catheter, with mean error 0.37 mm. We use closed-loop position controller to steer reporting 0.82 develop...

Rigid-body discretization of continuum elements was developed as a method for simplifying the kinematics otherwise complex systems. Recent work on pseudo-rigid-body (PRB) models compliant mechanisms has opened up possibility using similar concepts synthesis and design, while incorporating various types flexible within same framework. In this paper, an idea combining initially curved straight beams planar is to create set equations that can be used analyze designs topologies. A PRB model with...

Compliant members come in a variety of shapes and sizes. While thin beam flexures are commonly used this field, they can be replaced by soft with lower aspect ratio. This paper looks to study the behavior such elements analyzing them from view theory for 2D cases. A modified version Timoshenko is presented which incorporates extension Poisson's effects. The utility validity new approach demonstrated comparing against Euler–Bernoulli theory, finite-element analysis (FEA). results then...

The minimally designed robot (THANOS) showcases excellent control over both thermo- and magnetic responses. performs various tasks including shaping, locomotion, pick-and-place, release maneuvers of objects using independent triggers.

Guiding catheters assist in delivering hazardous equipment such as needles through non-solid mediums likecavities and vasculature. Traditionally, metallic are passed guiding catheters, which limited to linear paths or require anatomy-specific designs. Recently, variable stiffnessactive (AGCs) made of shape memory polymers have been developed. These AGCs can adapt anatomy guide their rubber glass phases, respectively. However, passing cause deflectionof the AGC misalignment with target. To...

Abstract Continuum robots have the potential to form an effective interface between patient and surgeon in minimally invasive procedures. Magnetic actuation has for accurate catheter steering, reducing tissue trauma decreasing radiation exposure. In this paper, a new design of monolithic metallic compliant continuum manipulator is presented, with flexures precise motion. Contactless achieved using time-varying magnetic fields generated by array electromagnetic coils. The motion under planar...

Magnetically actuated soft robots have recently been identified for application in medicine, due to their potential perform minimally invasive exploration of human cavities. Magnetic solutions permit further miniaturization when compared other actuation techniques, without loss functionalities. Our long-term goal is propose a novel method magnetically robots, based on dual-arm collaborative magnetic manipulation. A fundamental step this direction show that capable controlling up 8...

Continuum manipulators coupled with magnetic actuation have great potential as steerable instruments for diverse surgical applications. They can be maneuvered inside the human body to reach difficult-to-access sites contactless actuation. This paper presents a new design of compliant continuum manipulator diameter 3 mm and length 70 mm, capable spatial bending under A quasi-static model is developed estimate 3D motion manipulator. Experiments report an overall mean error in whole shape...