Evolutionary design of magnetic soft continuum robots
Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as l...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Proceedings of the National Academy of Sciences
2022
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| Online Access: | https://hdl.handle.net/1721.1/139767 |
| _version_ | 1811069800527429632 |
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| author | Wang, Liu Zheng, Dongchang Harker, Pablo Patel, Aman B Guo, Chuan Fei Zhao, Xuanhe |
| author_facet | Wang, Liu Zheng, Dongchang Harker, Pablo Patel, Aman B Guo, Chuan Fei Zhao, Xuanhe |
| author_sort | Wang, Liu |
| collection | MIT |
| description | Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as low steerability and vessel access through complex geometry of vasculatures and imaging-related accumulation of radiation to both patients and operating surgeons. To address these limitations, magnetic soft continuum robots (MSCRs) in the form of magnetic field–controllable elastomeric fibers have recently demonstrated enhanced steerability under remotely applied magnetic fields. While the steerability of an MSCR largely relies on its workspace—the set of attainable points by its end effector—existing MSCRs based on embedding permanent magnets or uniformly dispersing magnetic particles in polymer matrices still cannot give optimal workspaces. The design and optimization of MSCRs have been challenging because of the lack of efficient tools. Here, we report a systematic set of model-based evolutionary design, fabrication, and experimental validation of an MSCR with a counterintuitive nonuniform distribution of magnetic particles to achieve an unprecedented workspace. The proposed MSCR design is enabled by integrating a theoretical model and the genetic algorithm. The current work not only achieves the optimal workspace for MSCRs but also provides a powerful tool for the efficient design and optimization of future magnetic soft robots and actuators. |
| first_indexed | 2024-09-23T08:16:21Z |
| format | Article |
| id | mit-1721.1/139767 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T08:16:21Z |
| publishDate | 2022 |
| publisher | Proceedings of the National Academy of Sciences |
| record_format | dspace |
| spelling | mit-1721.1/1397672022-01-28T03:40:27Z Evolutionary design of magnetic soft continuum robots Wang, Liu Zheng, Dongchang Harker, Pablo Patel, Aman B Guo, Chuan Fei Zhao, Xuanhe Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as low steerability and vessel access through complex geometry of vasculatures and imaging-related accumulation of radiation to both patients and operating surgeons. To address these limitations, magnetic soft continuum robots (MSCRs) in the form of magnetic field–controllable elastomeric fibers have recently demonstrated enhanced steerability under remotely applied magnetic fields. While the steerability of an MSCR largely relies on its workspace—the set of attainable points by its end effector—existing MSCRs based on embedding permanent magnets or uniformly dispersing magnetic particles in polymer matrices still cannot give optimal workspaces. The design and optimization of MSCRs have been challenging because of the lack of efficient tools. Here, we report a systematic set of model-based evolutionary design, fabrication, and experimental validation of an MSCR with a counterintuitive nonuniform distribution of magnetic particles to achieve an unprecedented workspace. The proposed MSCR design is enabled by integrating a theoretical model and the genetic algorithm. The current work not only achieves the optimal workspace for MSCRs but also provides a powerful tool for the efficient design and optimization of future magnetic soft robots and actuators. 2022-01-27T14:45:20Z 2022-01-27T14:45:20Z 2021 2022-01-27T14:32:48Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/139767 Wang, Liu, Zheng, Dongchang, Harker, Pablo, Patel, Aman B, Guo, Chuan Fei et al. 2021. "Evolutionary design of magnetic soft continuum robots." Proceedings of the National Academy of Sciences of the United States of America, 118 (21). en 10.1073/PNAS.2021922118 Proceedings of the National Academy of Sciences of the United States of America Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Proceedings of the National Academy of Sciences PNAS |
| spellingShingle | Wang, Liu Zheng, Dongchang Harker, Pablo Patel, Aman B Guo, Chuan Fei Zhao, Xuanhe Evolutionary design of magnetic soft continuum robots |
| title | Evolutionary design of magnetic soft continuum robots |
| title_full | Evolutionary design of magnetic soft continuum robots |
| title_fullStr | Evolutionary design of magnetic soft continuum robots |
| title_full_unstemmed | Evolutionary design of magnetic soft continuum robots |
| title_short | Evolutionary design of magnetic soft continuum robots |
| title_sort | evolutionary design of magnetic soft continuum robots |
| url | https://hdl.handle.net/1721.1/139767 |
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