Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale
Remotely controlled soft continuum robots with active steering capability have broad prospects in medical applications. However, conventional continuum robots have the miniaturization challenge. This paper presents a microscale soft continuum microrobot with steering and locomotion capabilities base...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
American Association for the Advancement of Science (AAAS)
2022-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | http://dx.doi.org/10.34133/2022/9850832 |
| _version_ | 1828544232121434112 |
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| author | Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai |
| author_facet | Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai |
| author_sort | Dan Liu |
| collection | DOAJ |
| description | Remotely controlled soft continuum robots with active steering capability have broad prospects in medical applications. However, conventional continuum robots have the miniaturization challenge. This paper presents a microscale soft continuum microrobot with steering and locomotion capabilities based on magnetic field actuation. The magnetically driven soft continuum microrobot is made of NdFeB particles and polydimethylsiloxane (PDMS), and it can be as small as 200 μm in diameter. Moreover, a hydrogel layer is covered on the surface of the microrobot, which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and substrate. The performance test indicates the soft continuum microrobot featured excellent control and steering capabilities. The experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation environment. Moreover, the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascular manipulation. |
| first_indexed | 2024-12-12T02:27:26Z |
| format | Article |
| id | doaj.art-016e331d34fc442ba5261322809829c0 |
| institution | Directory Open Access Journal |
| issn | 2692-7632 |
| language | English |
| last_indexed | 2024-12-12T02:27:26Z |
| publishDate | 2022-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj.art-016e331d34fc442ba5261322809829c02022-12-22T00:41:31ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322022-01-01202210.34133/2022/9850832Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in MicroscaleDan Liu0Xiaoming Liu1Zhuo Chen2Zhaofeng Zuo3Xiaoqing Tang4Qiang Huang5Tatsuo Arai6Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaKey Laboratory of Biomimetic Robots and Systems, Ministry of Education, State Key Laboratory of Intelligent Control and Decision of Complex System, Beijing Advanced Innovation Center for Intelligent Robots and Systems, and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China; Center for Neuroscience and Biomedical Engineering, The University of Electro-Communications, Tokyo 182-8585, JapanRemotely controlled soft continuum robots with active steering capability have broad prospects in medical applications. However, conventional continuum robots have the miniaturization challenge. This paper presents a microscale soft continuum microrobot with steering and locomotion capabilities based on magnetic field actuation. The magnetically driven soft continuum microrobot is made of NdFeB particles and polydimethylsiloxane (PDMS), and it can be as small as 200 μm in diameter. Moreover, a hydrogel layer is covered on the surface of the microrobot, which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and substrate. The performance test indicates the soft continuum microrobot featured excellent control and steering capabilities. The experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation environment. Moreover, the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascular manipulation.http://dx.doi.org/10.34133/2022/9850832 |
| spellingShingle | Dan Liu Xiaoming Liu Zhuo Chen Zhaofeng Zuo Xiaoqing Tang Qiang Huang Tatsuo Arai Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale Cyborg and Bionic Systems |
| title | Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale |
| title_full | Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale |
| title_fullStr | Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale |
| title_full_unstemmed | Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale |
| title_short | Magnetically Driven Soft Continuum Microrobot for Intravascular Operations in Microscale |
| title_sort | magnetically driven soft continuum microrobot for intravascular operations in microscale |
| url | http://dx.doi.org/10.34133/2022/9850832 |
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