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Continuum Robots and Magnetic Soft Robots: From Models to Interdisciplinary Challenges for Medical Applications.

Honghong Wang1, Yi Mao2, Jingli Du1

  • 1School of Mechano-Electronic Engineering, Xidian University, Xi'an 710071, China.

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|March 28, 2024
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Summary

This review examines challenges in continuum and magnetic soft robotics for medical use. It proposes a unified modeling framework to aid interdisciplinary research and accelerate development.

Keywords:
continuum robotsinterdisciplinary challengesmagnetic soft robotsmedical robotssoft robots

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Area of Science:

  • Robotics
  • Medical Technology
  • Applied Mathematics

Background:

  • Soft robotics offers unique advantages for medical applications.
  • Continuum and magnetic soft robots present specific modeling and development challenges.
  • Interdisciplinary collaboration is crucial for advancing medical soft robotics.

Purpose of the Study:

  • To explore challenges in continuum and magnetic soft robotics for medical applications.
  • To establish a unified model framework for soft robotics.
  • To provide a perspective for interdisciplinary researchers.

Main Methods:

  • Developed a unified model framework using algebra and geometry.
  • Analyzed research progress and challenges in principle, data-driven, and hybrid modeling.
  • Constructed a numerical analysis framework for principle models.
  • Expanded the framework for interdisciplinary research with a case study.

Main Results:

  • A unified algebraic and geometric model framework was established.
  • In-depth analysis of various modeling approaches (principle, data-driven, hybrid) was performed.
  • A numerical analysis framework for principle models was constructed.
  • Interdisciplinary aspects and meta-problems were identified.

Conclusions:

  • The unified model framework provides a novel perspective on soft robotics challenges.
  • Addressing meta-problems is essential for future advancements.
  • This review facilitates rapid knowledge assimilation for interdisciplinary researchers in medical soft robotics.