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YoMo: Yoshimura Continuum Manipulator for MR Environment.

Yu Dang1,2,3,4, Jingyu Zhang1,2,3,4, Jie Chen1,2,3,4

  • 1College of Artificial Intelligence, Nankai University, Tianjin, China.

Soft Robotics
|October 10, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces the Yoshimura continuum manipulator (YoMo), an origami robot for precise control in magnetic resonance (MR) environments. YoMo demonstrates accurate trajectory tracking, highlighting its potential for medical applications.

Keywords:
Koopman operatorMRI safe robotYoshimuramedical robotorigami robotsoft robot

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Medical Devices

Background:

  • Origami robots offer versatile deformation for various applications, especially in medicine.
  • Precise control of robotic manipulators is crucial for minimally invasive medical procedures within confined spaces like MRI scanners.

Purpose of the Study:

  • To propose and validate a novel origami-based continuum manipulator, the Yoshimura continuum manipulator (YoMo), for accurate tip positioning in magnetic resonance (MR) environments.
  • To develop and evaluate advanced modeling and control strategies for the YoMo, enabling precise trajectory tracking under varying conditions.

Main Methods:

  • Design and fabrication of the YoMo using the Yoshimura folding pattern from a single sheet of paper, actuated by cables for bending and shortening.
  • Development of a kinematics model based on constant curvature assumption for benchmark prediction and application of Koopman operator theory for orientation-dependent tip position modeling.
  • Implementation of a Koopman-based linear quadratic regulator (K-LQR) for trajectory tracking control and experimental validation of YoMo performance, including stiffness and workspace.

Main Results:

  • The Koopman-based model significantly outperformed the constant curvature model in predicting the YoMo's tip position.
  • Experimental results confirmed the YoMo's capability for accurate trajectory tracking across different orientations, speeds, and trajectories.
  • Characterization of YoMo's stiffness and workspace demonstrated its suitability for practical applications.

Conclusions:

  • The proposed Yoshimura continuum manipulator (YoMo) offers a viable solution for precise robotic manipulation within MR environments.
  • The Koopman operator theory-based modeling and K-LQR control strategy provide superior accuracy and robustness for trajectory tracking.
  • YoMo's design and performance indicate strong potential for future medical applications requiring MR compatibility and high dexterity.