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Origami Inspired Self-assembly of Patterned and Reconfigurable Particles
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Self-folding soft-robotic chains with reconfigurable shapes and functionalities.

Hongri Gu1,2, Marino Möckli3, Claas Ehmke3

  • 1Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland. hongri.gu@uni-konstanz.de.

Nature Communications
|March 7, 2023
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Summary
This summary is machine-generated.

This study introduces magnetic soft-robotic chains (MaSoChains) that self-fold into large, programmable assemblies for minimally invasive interventions. These advanced robotic tools overcome previous limitations, enabling new functionalities in complex environments.

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Materials Science

Background:

  • Magnetic continuum soft robots offer steerable navigation for minimally invasive procedures.
  • Current soft robotic tools face limitations in geometry and functionality due to catheter size and body access constraints.

Purpose of the Study:

  • To develop novel magnetic soft-robotic chains (MaSoChains) capable of self-folding into large, stable assemblies.
  • To enable programmable shape changes and functionalities for enhanced minimally invasive interventions.

Main Methods:

  • Utilized a combination of elastic and magnetic energies for self-folding and stable configuration of MaSoChains.
  • Employed a push-pull mechanism relative to a catheter sheath for repeated assembly and disassembly.
  • Integrated MaSoChains with existing magnetic navigation technologies.

Main Results:

  • Demonstrated successful self-folding of MaSoChains into large assemblies with stable configurations.
  • Achieved repeated, programmable assembly and disassembly of robotic tools with diverse shapes and functions.
  • Confirmed compatibility with state-of-the-art magnetic navigation systems.

Conclusions:

  • MaSoChains represent a versatile platform for creating advanced tools for minimally invasive interventions.
  • This strategy overcomes limitations of existing surgical tools, offering novel functionalities.
  • The approach is customizable for a wide range of interventional applications.