Assisted Magnetic Soft Continuum Robot Navigation via Rotating Magnetic Fields
Assisted Magnetic Soft Continuum Robot Navigation via Rotating Magnetic Fields
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DOI：
10.1109/lra.2023.3331292
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发表时间：
2024-01
影响因子：
5.2
通讯作者：
Damith Chathuranga;P. Lloyd;J. Chandler;Russell A. Harris;Pietro Valdastri
中科院分区：
文献类型：
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作者：
Damith Chathuranga;P. Lloyd;J. Chandler;Russell A. Harris;Pietro Valdastri
创新的机器人导尿管柔软、灵活，并由磁铁控制，有可能彻底改变肺、脑和胰腺等关键区域的微创外科手术，目前使用现有技术对安全进入这些区域构成重大挑战。这些毫米级磁性软连续体机器人（MSCRs）可以被设计成高度灵巧的，以便进入解剖区域，否则被认为是不可接近的。然而，由于其柔软和细长的性质，mscr在插入过程中容易在压缩载荷下屈曲。在这项研究中，我们展示了高长径比（80毫米长，2毫米直径）的mscr通过耦合特定的纵向磁剖面和暴露于旋转磁场（RMF），将其插入狭窄、弯曲的管腔中，从而实现无屈曲。我们介绍了三种不同的mscr的设计、运动、制造和驱动的有限元建模（FEM）。这些机器人由掺钕铁硼的有机硅聚合物铸造而成，以获得直径为2mm和3mm的导管。这些导管在预定义的轮廓中磁化，当导管放置在RMF中时，会产生蛇形运动。实验是为了量化这些软导管在模拟狭窄曲折的管腔（如胰腺和胆管）的软幻体中导航的行为。振荡驱动增加了MSCR在弯曲通道中的插入深度，甚至可以通过形状变形挤压直径为1mm的开口。实验表明，RMF将所需的插入力减少了近45%，并将固定时间框架内插入的距离增加了3倍。
Innovative robotic catheters that are soft, flexible, and controlled by magnets have the potential to revolutionize minimally invasive surgical procedures in critical areas such as the lungs, brain and pancreas, which currently pose significant safe access challenges using existing technology. These shape forming millimetre-scale magnetic soft continuum robots (MSCRs) can be designed to be highly dexterous in order to access regions of the anatomy otherwise deemed inaccessible. However, due to their soft and slender nature, MSCRs are prone to buckling under compressive loads during insertion. In this study we demonstrate buckling free insertion of high aspect ratio (80 mm long by 2 mm diameter) MSCRs into narrow, tortuous lumens enabled by coupling a specific lengthwise magnetic profile with exposure to a rotating magnetic field (RMF). We present design, finite element modelling (FEM) of the motion, fabrication and actuation of three different MSCRs. These robots are cast from NdFeB doped silicone polymer to obtain 2 mm and 3 mm diameter catheters. These are magnetized in a predefined profile such that when the catheters are placed in an RMF, a serpentine motion is generated. Experiments were conducted to quantify the behaviour of these soft catheters navigating through a soft phantom that mimicked narrow tortuous lumens such as the pancreas and bile ducts. Oscillating actuation increased the inserted depth reached by the MSCR in a tortuous channel and even enabled squeezing through a 1 mm diameter opening via shape morphing. The experiments showed that an RMF reduced the required insertion forces by almost 45% and increased the distance inserted in a fixed time frame by 3 times.