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Heterogeneous multiple soft millirobots in three-dimensional lumens
Chunxiang Wang1,2, Tianlu Wang1,3, Mingtong Li1
1Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.
Science Advances
|November 6, 2024
Summary
This study introduces a new framework for controlling multiple miniature magnetic soft robots independently within complex 3D tubular structures, enhancing medical intervention capabilities.
Area of Science:
- Robotics
- Biomedical Engineering
- Medical Devices
Background:
- Miniature soft robots offer potential for safe medical interventions in difficult-to-reach areas.
- Controlling multiple robots simultaneously in 3D tubular environments remains a significant challenge.
Purpose of the Study:
- To develop a framework for independent magnetic control of multiple miniature soft robots in 3D tubular structures.
- To enable advanced multirobot operations for enhanced medical interventions.
Main Methods:
- Quantified robot movement using influence and actuation regions.
- Developed a path planning algorithm for multirobot navigation via magnetic trajectory.
- Achieved individual robot control in multilayer lumen networks using medical imaging.
Main Results:
- Successfully demonstrated independent control of miniature magnetic soft robots in 3D lumens.
- Showcased multilocation cargo delivery and flow diversion capabilities.
- Validated the framework's effectiveness in complex, physiologically relevant environments.
Conclusions:
- The presented framework enables effective magnetic multirobot control in 3D tubular environments.
- This advancement has broad implications for miniature robotic devices in complex biomedical applications.
