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Magnetic steering continuum robot for transluminal procedures with programmable shape and functionalities.

Liyang Mao1, Peng Yang1, Chenyao Tian1

  • 1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, 2 Yikuang, Harbin, 150001, China.

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|May 4, 2024
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Summary
This summary is machine-generated.

This study presents a millimeter-scale soft continuum robot that autonomously extends its tip for transluminal procedures. It navigates complex pathways and morphs into functional tools, enhancing safety and multi-functionality in robotic surgery.

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Materials Science

Background:

  • Millimeter-scale soft continuum robots offer safety in transluminal procedures but face mobility restrictions and risks due to passive compliance and environmental interactions.
  • Existing soft robots struggle with autonomous navigation and manipulation in confined, delicate anatomical spaces.

Purpose of the Study:

  • To introduce a novel millimeter-scale continuum robot capable of autonomous apical extension and stable navigation within lumens.
  • To demonstrate a robot design that overcomes environmental interaction limitations for enhanced transluminal procedures.
  • To showcase the robot's ability to transform into functional 3D structures for surgical tasks.

Main Methods:

  • Development of a millimeter-scale continuum robot utilizing phase transition components for controlled elongation.
  • Implementation of programmable magnetic fields for precise steering and navigation.
  • Integration with clinical imaging technologies for real-time guidance.
  • Demonstration of autonomous shaping and morphing capabilities.

Main Results:

  • The robot successfully achieved tip-based elongation while maintaining structural stability through solid-like and liquid-like phase transitions.
  • Autonomous navigation through tortuous and fragile lumina was demonstrated, enabling microsurgical tool transport.
  • The robot successfully morphed into functional 3D structures in larger anatomical spaces, such as the stomach.

Conclusions:

  • The developed millimeter-scale continuum robot offers enhanced safety, multi-functionality, and autonomous capabilities for transluminal surgery.
  • This design paradigm opens new possibilities for cooperative robotic systems in minimally invasive procedures.
  • The robot's ability to adapt its shape overcomes limitations of narrow pathways, expanding the scope of robotic interventions.