稳定的磁性软结构.
Hong Wang1,2, Yunming Zhang3, Xu Liu1
1Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China.
Science advances
|November 14, 2025
概括
不同类型的磁软结构为医疗器械提供了增强的稳定性和控制能力,克服了磁场不对齐和成像限制所带来的挑战. 这种设计可以在复杂的环境中提高设备的安全性和功能.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
- 材料科学 材料科学 材料科学
背景情况:
- 由于其多功能性,磁性软结构对最小侵入性医疗器械具有前景.
- 在波动的磁场和成像限制下的意外变形对设备控制和估计构成重大挑战.
- 解剖学边界可以进一步复杂化设备操作,导致与外部磁场的不对齐.
研究的目的:
- 为了研究在不对齐的磁场下,精细的磁软结构的稳定性.
- 开发一种异型设计,增强结构刚性和控制.
- 为了证明这些结构在各种医疗器械配置中的强度和适用性.
主要方法:
- 使用曲关节的苗条磁性软结构的异型设计.
- 与同otropic梁相比,曲和扭曲刚性的表征.
- 通过功能演示验证结构强度的验证.
主要成果:
- 与异型梁相比,异型梁的设计实现了约52倍的曲刚度和18倍的扭曲刚度.
- 开发出来的结构可以作为多功能构建模块,用于各种配置,包括触角,螺旋和可扩展设备.
- 通过自动推进,导线导航,减少插入力和周围静止运动来证明强度.
结论:
- 不同类型的磁性软结构在具有挑战性的环境中显著提高了稳定性和控制性.
- 这种设计进步有助于开发更安全,更可靠的微创医疗器械.
- 多才多艺的构建模块方法有助于创建复杂的,功能性的软机器人系统,用于医疗应用.
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