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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Stiffness-tunable velvet worm-inspired soft adhesive robot.

Hyeongho Min1, Daebeom Bae2, Siyeon Jang1,3

  • 1Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany.

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|November 20, 2024
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Summary

This study introduces a novel soft robotic system using magnetorheological materials for delicate adhesion control on various surfaces. The robot demonstrates precise grasping and manipulation for biomedical applications, including surgery.

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Area of Science:

  • Robotics
  • Materials Science
  • Biomedical Engineering

Background:

  • Remotely controlled miniature soft robots face challenges in delicate adhesion control on diverse surfaces.
  • Grasping soft biological and non-biological surfaces with low preload without damage is crucial.

Purpose of the Study:

  • To develop a soft robotic adhesive system with precise adhesion control inspired by velvet worm secretions.
  • To enable delicate grasping and manipulation for applications in confined and sensitive environments.

Main Methods:

  • Utilized a structured magnetorheological material with externally controlled stiffness via magnetic fields.
  • Implemented an adhesion protocol involving soft-state adhesion, large contact area, and enhanced elastic modulus.
  • Designed a mechanical structure to optimize the adhesion protocol's effectiveness.

Main Results:

  • Achieved precise adhesion control with stability and repeatability.
  • Demonstrated stable transportation within soft, wet organs.
  • Successfully performed tasks like unscrewing a nut and assisting in tumor removal surgery.

Conclusions:

  • The developed soft adhesive robot shows significant potential for biomedical engineering applications.
  • The system is particularly promising for targeting small-scale biological tissues and organisms.
  • This technology offers a new approach to delicate manipulation in microsurgery and related fields.