Flexible magnetic small-scale robots use patterned magnetization to achieve fast transformation into complex three-dimensional (3D) shapes and thereby locomotion capabilities functions. These address current challenges for microrobots in drug delivery, object manipulation, minimally invasive procedures. However, possible microrobot designs are limited by the existing methods patterning particles flexible materials. Here, we report a method hard microparticles an elastomer matrix. This...

Despite increasing interest in minimally invasive surgical techniques and related developments flexible endoscopes catheters, follow-the-leader motion remains elusive. Following the path of least resistance through a tortuous potentially delicate environment without relying on interaction with surrounding anatomy requires control many degrees freedom. This typically results large-diameter instruments. One viable solution to obtain dexterity size is via multiple-point magnetic actuation over...

Manipulation of micrometer to millimeter-scale objects is central biotechnological and medical applications involving small-scale robotic devices. Mobile untethered microgrippers have been developed, which use magnetic fields for motion activation grasping. This letter extends the capabilities such by presenting first example reliable autonomous three-dimensional (3-D) micrograsping cargo delivery a microgripper using simple control strategies. endeavor will allow reliably grasp transfer...

In this letter, a novel end-effector for surgical applications is presented that uses magnetic actuation in lieu of more traditional cable-driven tool with the goal providing high dexterity hard-to-reach locations by decoupling from rest system. The gripper and wrist device consists several magnets connected compliant Nitinol joints allow two rotational degrees freedom one gripping degree freedom. As an existing robot arm, could augment minimally invasive robots allowing distal sites narrow...

Magnetic soft robots (MSRs) are a viable tool for many biomedical applications, such as targeted drug delivery and minimally invasive surgery, since they can be actuated remotely using external magnetic fields. These developed by programming ferromagnetic domains with specific magnetizations particles embedded in flexible substrate. Existing fabrication methods rely on partially automated or manual processes, which limit production rates realistic design iterations. To address these...

Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases lack dexterity miniaturization along with excessive stiffness results large regions the anatomy being deemed inaccessible. Soft continuum robots have potential to mitigate these issues. Due its enormous for miniaturization, magnetic actuation is particular interest this field. Currently, flexible often rely on interactive forces generate deformations...

The carotid artery is one of the major supply routes blood to brain and a common site vascular disease. Obstructive sclerotic disorders within impact local flow patterns as well overall impedance brain. A lumped parameter model an experimental in-vitro loop were used study effects stenosis stiffness in based on family phantoms with different degrees compliance. also allows independent examination downstream resistance Mild moderate was found lead minimal (∼1%) reduction Reduction mean...

Current minimally-invasive surgical tools suffer from lack of scalability and restricted access to some sites using a laparoscopic probe. This paper introduces proof-of-concept prototype the first completely wireless scissors capable dexterous motion cutting in remote environment as mobile microrobotic device. The 15 mm untethered are custom made sharpened titanium sheets with magnet on each blade for actuating force control. A super-elastic nitinol wire acts restoring spring results simple...

Soft continuum manipulators have the potential to replace traditional surgical catheters; offering greater dexterity with access previously unfeasible locations for a wide range of interventions including neurological and cardiovascular. Magnetically actuated catheters are particular interest due their miniaturization remote control. Challenges around operation these exist however, one occurs when angle between actuating field local magnetization vector catheter exceeds 90°. In this...

Magnetic soft robots are increasingly popular as they provide many advantages such miniaturization and tetherless control that ideal for applications inside the human body or in previously inaccessible locations.While non-magnetic elastomers have been extensively characterized modelled optimizing fabrication of robots, a systematic material characterization their magnetic counterparts is still missing. In this paper, commonly employed materials made out Ecoflex™ 00-30 Dragon Skin™ 10 with...

The growing interest in soft robotics has resulted an increased demand for accurate and reliable material modelling. As robots experience high deformations, highly nonlinear behavior is possible. Several analytical models that are able to capture this have been proposed, however, accurately calibrating them specific materials applications can be challenging. Multiple experimental testbeds may required characterization which expensive cumbersome. In work, we propose alternative framework...

Mechanical loading on bone tissue is an important physiological stimulus that plays a key role in growth, fracture repair, and treatment of diseases. Osteocytes (bone cells embedded matrix) are well accepted as the sensor to mechanical play critical regulating structure response loading. To understand osteocytes differential stimulation physiologically relevant arrangements, there need for platform which can locally stimulate with different levels fluid shear stress. In this study, we...

Microrobotics is an attractive area of research as small-scale robots have the potential to improve precision and dexterity offered by minimally invasive surgeries. One example such a tool pair micro-surgical scissors that was developed for cutting tumors or cancerous tissues present deep inside body in brain. This task often deemed difficult impossible with conventional robotic tools due their size dexterity. The are designed two magnets placed specific distance apart maximize deflection...