Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots.
Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots.
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DOI：
10.3389/frobt.2021.715662
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发表时间：
2021
影响因子：
3.4
通讯作者：
Valdastri P
中科院分区：
文献类型：
--
作者：
Lloyd P;Koszowska Z;Di Lecce M;Onaizah O;Chandler JH;Valdastri P
柔软的连续体机械手有可能取代传统的手术导管，提供更大的灵活性，可以接触到以前不可行的位置，进行包括神经和心血管在内的广泛干预。磁驱动导管因其在小型化和远程控制方面的潜力而特别引起人们的兴趣。然而，这些导管的操作存在挑战，当激励磁场和导管的局部磁化矢量之间的夹角超过90°时，就会出现这些挑战之一。在这种布置中，由合成磁矩产生的变形会增加磁力矩，从而导致潜在的不稳定性。这种现象可能会导致对激励的不可预测的响应，特别是对于柔软、灵活的材料。当再加上在活组织内感知和定位的固有挑战时，这种行为代表着进步的障碍。在这项可行性研究中，我们提出并研究了螺旋纤维增强在磁力驱动的软连续体机械手中的应用。通过数值模拟探索设计空间，优化纤维参数，提高扭转/弯曲刚度比。通过定制制造优化的螺旋设计，我们验证了一个单一的、典型的两段式、40 mm×6 mm的连续体机械手，证明在驱动下减少了67%的不需要的扭转。
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.