A Convoy of Magnetic Millirobots Transports Endoscopic Instruments for Minimally-Invasive Surgery

Area of Science:

• Robotics
• Biomedical Engineering
• Minimally Invasive Surgery

Background:

• Small-scale robots are promising for minimally invasive procedures.
• Locomotion in soft biological tissues presents significant challenges.
• Single mini-robots lack sufficient force for carrying medical instruments on slippery surfaces.

Purpose of the Study:

• To develop a collaborative strategy for small-scale robots to overcome locomotion and force limitations.
• To enhance the actuating force and crawling ability of millirobots on biological surfaces.
• To demonstrate the feasibility of using a team of millirobots for carrying heavy loads and performing surgical tasks.

Main Methods:

• A team of millirobots (TrainBot) was designed to work collaboratively.
• Each unit's feet were optimized to increase propulsive force.
• A human-scale magnetic setup was developed for wireless actuation and control.
• Electrocauterization was performed using the TrainBot system.

Main Results:

• The TrainBot convoy generated approximately double the actuating force of a single unit.
• Optimized feet increased propulsive force by about three times, improving crawling on slippery surfaces.
• The system successfully transported heavy and lengthy loads through narrow biological lumens.
• Successful electrocauterization was demonstrated to relieve biliary obstruction.

Conclusions:

• Collaborative strategies significantly enhance the force and capabilities of small-scale robots.
• The developed TrainBot system offers a viable solution for carrying loads and performing interventions in narrow biological lumens.
• This technology advances the potential of robotic systems for future minimally invasive surgical procedures.