Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots
Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots
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DOI：
10.1109/lra.2023.3280749
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发表时间：
2023-07-01
影响因子：
5.2
通讯作者：
Hoshiar，Ali Kafash
中科院分区：
文献类型：
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作者：
Abolfathi，Kiana;Rosales-Medina，Jose A.;Hoshiar，Ali Kafash
具有高度可变形结构的全软连续磁性（FSCM）微型机器人已成为机器人控制血管内介入的潜在解决方案。微型机器人的结构由磁响应材料制成，它在磁场下提供全身控制，而不是有限的尖端变形。这些微型机器人的形状控制使其能够在与环境接触有限的情况下在复杂路径中转向。我们研究了全身控制下产生的领域使用两个机器人控制的永磁体，并结合电磁系统。不同的参数，如永磁体的数量，永磁体的位置和电磁场的强度和方向，对机器人的形状的影响进行了实验研究。介绍了一种预测叶尖变形角（TDA）的数学模型，并进行了实验验证（均方根误差（RMSE）6.5）。根据柔性机器人的曲率识别出10种不同的特征体形。基于所获得的数据，提出了一个概念验证演示的全身控制的软机器人。研究了三种磁控制策略下柔性机器人在连续路径上的转向精度。结果表明，该方法有效地使形状形成，并最大限度地减少与周围环境的接触（到中心线的平均距离为1.24 mm）。所提出的方法有望将血管内介入治疗提升为侵入性最小的手术。
Fully soft continuum magnetic (FSCMs) microrobots with highly deformable structures have emerged as a potential solution to robotically controlled endovascular interventions. The microrobot's structure is made of magneto-responsive material, which offers full body control under a magnetic field instead of limited tip deformation. The shape control for these microrobots enables steering in complex paths with limited contact with the environment. We studied full body control under fields generated using up to two robotically controlled permanent magnets and in combination with an electromagnetic system. The effect of different parameters, such as the number of permanent magnets, position of the permanent magnets and intensity and direction of the electromagnetic field, on the robot's shape has been experimentally investigated. A mathematical model to predict tip deformation angle (TDA) was introduced and verified experimentally (root mean square error (RMSE) 6.5). Ten different characteristic body shapes were identified based on the curvature of the soft robot. Based on the obtained data, a proof-of-concept demo is presented for the full body controlled soft robots. The accuracy of steering soft robots on a continuous path with all three magnetic control strategies was investigated. The results show that the proposed method effectively enables shape forming and minimizes contact with the surrounding environment (the average distance to the centerline was 1.24 mm). The proposed approach hold promises to elevate endovascular interventions towards the least invasive surgery.