Millimeter-Scale Soft Continuum Robots for Large-Angle and High-Precision Manipulation by Hybrid Actuation.
Millimeter-Scale Soft Continuum Robots for Large-Angle and High-Precision Manipulation by Hybrid Actuation.
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通过混合驱动实现大角度和高精度操纵的毫米级软连续体机器人。
DOI：
10.1002/aisy.202000189
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发表时间：
2021-03
期刊：
影响因子：
--
通讯作者：
Shen Y
中科院分区：
文献类型：
--
作者：
Zhang T;Yang L;Yang X;Tan R;Lu H;Shen Y
开发具有大角度转向能力和高精度操作的小型软连续体机器人在各种生物医学环境中提供了广泛的机会。然而，现有的连续体机器人由于体积小、柔性驱动、大柔性范围、高精度和小动态误差之间的矛盾，在驱动方面遇到了瓶颈。本文报道了一种3D打印的毫米级软连续体机器人，其具有中空骨架壁（300 μm）和大的内外比（0.8）。在涂覆一层薄的铁磁弹性体层（约100-150 μm）后，所提出的配备混合驱动（肌腱和磁驱动模式）的软连续体机器人同时实现大角度（高达100°）转向和高精度（静态定位低至2 μm）微操作。该机器人实现了10 μm的超低动态跟踪误差，比现有技术水平提高了10倍。结合微针/刀或鼻咽拭子，该机器人显示了多功能生物医学应用的潜力，如靶组织药物注射，病变组织消融和COVID-19鼻咽采样。毫米级柔性连续体机器人在大范围、高精度驱动方面取得了显著的进步，为小型连续体机器人的设计提供了新的方法，在生物医学工程中具有广泛的应用前景。开发小型软连续体机器人在各种生物医学环境中提供了广泛的机会。在此，提出了一种配备混合驱动（肌腱和磁驱动）的3D打印毫米级软连续体机器人，可以同时实现大角度（100°）转向和高精度（静态/动态定位分别为102/10 μm）微操作，这揭示了多功能的潜力，如显微注射/消融和鼻咽采样。
Developing small‐scale soft continuum robots with large‐angle steering capacity and high‐precision manipulation offers broad opportunities in various biomedical settings. However, existing continuum robots reach the bottleneck in actuation on account of the contradiction among small size, compliance actuation, large tender range, high precision, and small dynamic error. Herein, a 3D‐printed millimeter‐scale soft continuum robot with an ultrathin hollow skeleton wall (300 μm) and a large inner‐to‐outer ratio (0.8) is reported. After coating a thin ferromagnetic elastomer layer (≈100–150 μm), the proposed soft continuum robot equipped with hybrid actuation (tendon‐ and magnetic‐driven mode) achieves large‐angle (up to 100°) steering and high‐precision (low to 2 μm for static positioning) micromanipulation simultaneously. Specifically, the robot implements an ultralow dynamic tracking error of ≈10 μm, which is ≈30‐fold improved than the state of art. Combined with a microneedle/knife or nasopharyngeal swab, the robot reveals the potential for versatile biomedical applications, such as drug injection on the target tissue, diseased tissue ablation, and COVID‐19 nasopharyngeal sampling. The proposed millimeter‐scale soft continuum robot presents remarkable advances in large‐range and high‐precise actuation, which provides a new method for miniature continuum robot design and finds broad applications in biomedical engineering. Developing small‐scale soft continuum robots offers broad opportunities in various biomedical settings. Herein, a 3D‐printed millimeter‐scale soft continuum robot equipped with hybrid actuation (tendon and magnetic driven) that can achieve large‐angle (≈100°) steering and high‐precision (≈2/10 μm for static/dynamic positioning, respectively) micromanipulation simultaneously is proposed, which reveals versatile potentials, such as microinjection/ablation and nasopharyngeal sampling.
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