Browse
Submit Data
Databases
API
Help

Dataset Information

20 Views

0 Connections

0 Citations

0 Reanalyses

0 Downloads

Omics score: 0

Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots.

ABSTRACT: Soft continuum manipulators have the potential to replace traditional surgical catheters; offering greater dexterity with access to previously unfeasible locations for a wide range of interventions including neurological and cardiovascular. Magnetically actuated catheters are of particular interest due to their potential for miniaturization and remote control. Challenges around the operation of these catheters exist however, and one of these occurs when the angle between the actuating field and the local magnetization vector of the catheter exceeds 90°. In this arrangement, deformation generated by the resultant magnetic moment acts to increase magnetic torque, leading to potential instability. This phenomenon can cause unpredictable responses to actuation, particularly for soft, flexible materials. When coupled with the inherent challenges of sensing and localization inside living tissue, this behavior represents a barrier to progress. In this feasibility study we propose and investigate the use of helical fiber reinforcement within magnetically actuated soft continuum manipulators. Using numerical simulation to explore the design space, we optimize fiber parameters to enhance the ratio of torsional to bending stiffness. Through bespoke fabrication of an optimized helix design we validate a single, prototypical two-segment, 40 mm × 6 mm continuum manipulator demonstrating a reduction of 67% in unwanted twisting under actuation.

SUBMITTER: Lloyd P

PROVIDER: S-EPMC8297468 | biostudies-literature |

REPOSITORIES: biostudies-literature

ACCESS DATA

Json Xml

Similar Datasets

Magnetically Actuated Tunable Soft Electronics.

Project description:Variable electronics are vital in tunable filters, transmitters, and receivers, among other applications. In addition, the ability to remotely tune soft capacitors, resistors, and inductors is important for applications in which the device is not accessible. In this paper, a uniform method of remotely tuning the characteristic properties of soft electronic units (i.e. inductance, capacitance, and resistance) is presented. In this method, magnetically actuated ferrofluid mixed with iron powder is dragged in a soft fluidic channel made of polydimethylsiloxane (PDMS) to tune the electrical properties of the component. The effects of position and quantity of the ferrofluid and iron powder are studied over a range of frequencies, and the changes in inductance, capacitance, resistance, quality factor, and self-resonance frequency are reported accordingly. The position plays a bigger role in changing inductance, capacitance, and resistance. With the proposed design, the inductance can be changed by 20.9% from 3.31 μH for planar inductors and 23% from 0.44 μH for axial inductors. In addition, the capacitance of capacitors and impedance of resistors can be changed by 12.7% from 2.854 pF and 185.3% from 0.353 kΩ, respectively. Furthermore, the changes in the inductance, capacitance, and resistance follow "quasi-linear profiles" with the input during position and quantity effect experiments.

| S-EPMC6921637 | biostudies-literature

Adaptive Dynamic Control for Magnetically Actuated Medical Robots.

Project description:In the present work we discuss a novel dynamic control approach for magnetically actuated robots, by proposing an adaptive control technique, robust towards parametric uncertainties and unknown bounded disturbances. The former generally arise due to partial knowledge of the robots' dynamic parameters, such as inertial factors, the latter are the outcome of unpredictable interaction with unstructured environments. In order to show the application of the proposed approach, we consider controlling the Magnetic Flexible Endoscope (MFE) which is composed of a soft-tethered Internal Permanent Magnet (IPM), actuated with a single External Permanent Magnet (EPM). We provide with experimental analysis to show the possibility of levitating the MFE - one of the most difficult tasks with this platform - in case of partial knowledge of the IPM's dynamics and no knowledge of the tether's behaviour. Experiments in an acrylic tube show a reduction of contact of the 32% compared to non-levitating techniques and 1.75 times faster task completion with respect to previously proposed levitating techniques. More realistic experiments, performed in a colon phantom, show that levitating the capsule achieves faster and smoother exploration and that the minimum time for completing the task is attained by the proposed approach.

| S-EPMC6690374 | biostudies-literature

Magnetically actuated gearbox for the wireless control of millimeter-scale robots.

Project description:The limited force or torque outputs of miniature magnetic actuators constrain the locomotion performances and functionalities of magnetic millimeter-scale robots. Here, we present a magnetically actuated gearbox with a maximum size of 3 millimeters for driving wireless millirobots. The gearbox is assembled using microgears that have reference diameters down to 270 micrometers and are made of aluminum-filled epoxy resins through casting. With a magnetic disk attached to the input shaft, the gearbox can be driven by a rotating external magnetic field, which is not more than 6.8 millitesla, to produce torque of up to 0.182 millinewton meters at 40 hertz. The corresponding torque and power densities are 12.15 micronewton meters per cubic millimeter and 8.93 microwatt per cubic millimeter, respectively. The transmission efficiency of the gearbox in the air is between 25.1 and 29.2% at actuation frequencies ranging from 1 to 40 hertz, and it lowers when the gearbox is actuated in viscous liquids. This miniature gearbox can be accessed wirelessly and integrated with various functional modules to repeatedly generate large actuation forces, strains, and speeds; store energy in elastic components; and lock up mechanical linkages. These characteristics enable us to achieve a peristaltic robot that can crawl on a flat substrate or inside a tube, a jumping robot with a tunable jumping height, a clamping robot that can sample solid objects by grasping, a needle-puncture robot that can take samples from the inside of the target, and a syringe robot that can collect or release liquids.

| S-EPMC7613641 | biostudies-literature

FAS-A Fully Actuated Segment for Tendon-Driven Continuum Robots.

Project description:We propose a segment design that combines two distinct characteristics of tendon-driven continuum robots, i.e. variable length and non-straight tendon routing, into a single segment by enabling rotation of its backbone. As a result, this segment can vary its helical tendon routing and has four degrees-of-freedom, while maintaining a small-scale design with an overall outer diameter of 7 mm thanks to an extrinsic actuation principle. In simulation and on prototypes, we observe improved motion capabilities, as evidenced by position redundancy and follow-the-leader deployment along spatially tortuous paths. To demonstrate the latter on a physical prototype, a simple, yet effective area-based error measure for follow-the-leader deployment is proposed to evaluate the performance. Furthermore, we derive a static model which is used to underpin the observed motion capabilities. In summary, our segment design extends previous designs with minimal hardware overhead, while either archiving similar accuracy in position errors and planar follow-the-leader deployment, or exhibiting superior motion capabilities due to position redundancy and spatial follow-the-leader deployment.

| S-EPMC9090173 | biostudies-literature

Evolutionary design of magnetic soft continuum robots.

Project 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.

| S-EPMC8166154 | biostudies-literature

Power Amplification for Jumping Soft Robots Actuated by Artificial Muscles.

Project description:Robots composed of soft materials can passively adapt to constrained environments and mitigate damage due to impact. Given these features, jumping has been explored as a mode of locomotion for soft robots. However, for mesoscale jumping robots, lightweight and compact actuation are required. Previous work focused on systems powered by fluids, combustion, smart materials, electromagnetic, or electrostatic motors, which require one or more of the following: large rigid components, external power supplies, components of specific, pre-defined sizes, or fast actuation. In this work, we propose an approach to design and fabricate an electrically powered soft amplification mechanism to enable untethered mesoscale systems with continuously tunable performance. We used the tunable geometry of a liquid crystal elastomer actuator, an elastic hemispherical shell, and a pouch motor for active latching to achieve rapid motions for jumping despite the slow contraction rate of the actuator. Our system amplified the power output of the LCE actuator by a factor of 8.12 × 103 with a specific power of 26.4 W/kg and jumped to a height of 55.6 mm (with a 20 g payload). This work enables future explorations for electrically untethered soft systems capable of rapid motions (e.g., jumping).

| S-EPMC8927657 | biostudies-literature

Multimodal Locomotion and Cargo Transportation of Magnetically Actuated Quadruped Soft Microrobots.

Project description:Untethered microrobots have attracted extensive attention due to their potential for biomedical applications and micromanipulation at the small scale. Soft microrobots are of great research importance because of their highly deformable ability to achieve not only multiple locomotion mechanisms but also minimal invasion to the environment. However, the existing microrobots are still limited in their ability to locomote and cross obstacles in unstructured environments compared to conventional legged robots. Nature provides much inspiration for developing miniature robots. Here, we propose a bionic quadruped soft thin-film microrobot with a nonmagnetic soft body and 4 magnetic flexible legs. The quadruped soft microrobot can achieve multiple controllable locomotion modes in the external magnetic field. The experiment demonstrated the robot's excellent obstacle-crossing ability by walking on the surface with steps and moving in the bottom of a stomach model with gullies. In particular, by controlling the conical angle of the external conical magnetic field, microbeads gripping, transportation, and release of the microrobot were demonstrated. In the future, the quadruped microrobot with excellent obstacle-crossing and gripping capabilities will be relevant for biomedical applications and micromanipulation.

| S-EPMC10010670 | biostudies-literature

Classification and Evaluation of Octopus-Inspired Suction Cups for Soft Continuum Robots.

Project description:The emergence of the field of soft robotics has led to an interest in suction cups as auxiliary structures on soft continuum arms to support the execution of manipulation tasks. This application poses demanding requirements on suction cups with respect to sensorization, adhesion under non-ideal contact conditions, and integration into fully soft systems. The octopus can serve as an important source of inspiration for addressing these challenges. This review aims to accelerate research in octopus-inspired suction cups by providing a detailed analysis of the octopus sucker, determining meaningful performance metrics for suction cups on the basis of this analysis, and evaluating the state-of-the-art in suction cups according to these performance metrics. In total, 47 records describing suction cups are found, classified according to the deployed actuation method, and evaluated on performance metrics reflecting the level of sensorization, adhesion, and integration. Despite significant advances in recent years, the octopus sucker outperforms all suction cups on all performance metrics. The realization of high resolution tactile sensing in suction cups and the integration of such sensorized suction cups in soft continuum structures are identified as two major hurdles toward the realization of octopus-inspired manipulation strategies in soft continuum robot arms.

| S-EPMC11321698 | biostudies-literature

Magnetically-actuated microposts stimulate axon growth.

Project description:New strategies to promote neuronal regeneration should aim to increase the speed of axonal elongation. Biochemical signaling is a key factor in axon growth, but recent discoveries have shown that mechanical force, through a process referred to as stretch growth, can significantly influence the elongation rate. Here, we develop a method to apply forces to primary hippocampal neurons from mice using magnetic microposts that actuate in response to an external magnetic field. Neurons are cultured onto these microposts and subjected to an average displacement of 0.2 μm at a frequency of 5 Hz. We find that the mechanical stimulation promotes an increase in the length of the axons compared to control conditions. In addition, there is an increase in the density of microtubules and in the amount of cisternae of the endoplasmic reticulum, providing evidence that stretch growth is accompanied by a mass addition to the neurite. Together, these results indicate that magnetically-actuated microposts can accelerate the rate of axon growth, paving the way for future applications in neuronal regeneration. VIDEO ABSTRACT.

| S-EPMC8822606 | biostudies-literature

Light- and magnetically actuated FePt microswimmers.

Project description:Externally controlled microswimmers offer prospects for transport in biological research and medical applications. This requires biocompatibility of the swimmers and the possibility to tailor their propulsion mechanisms to the respective low Reynolds number environment. Here, we incorporate low amounts of the biocompatible alloy of iron and platinum (FePt) in its [Formula: see text] phase in microstructures by a versatile one-step physical vapor deposition process. We show that the hard magnetic properties of [Formula: see text] FePt are beneficial for the propulsion of helical micropropellers with rotating magnetic fields. Finally, we find that the FePt coatings are catalytically active and also make for Janus microswimmers that can be light-actuated and magnetically guided.

| S-EPMC8172516 | biostudies-literature

OmicsDI is part of the ELIXIR infrastructure

OmicsDI is an Elixir interoperability service. Learn more ›

Tweets

OmicsDI Databases

PRIDE
PeptideAtlas
MassIVE
JPOST Repository
Physiome Model Repository

EGA
EVA
ENA
LINCS
PAXDB
Cell Collective

MetaboLights
Metabolomics Workbench
MetabolomeExpress
GNPS
BioModels
FAIRDOMHub

ArrayExpress
dbGaP
ExpressionAtlas
GEO
NODE

Information

Databases
Help
API
Contact us
Code on GitHub
Terms of use
Submit Data