相关论文: Magnetic Milli-spinner for Robotic Endovascular Su…
The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There…
Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating…
In-pipe robots are promising solutions for condition assessment, leak detection, water quality monitoring in a variety of other tasks in pipeline networks. Smart navigation is an extremely challenging task for these robots as a result of…
While undulatory swimming of elongate limbless robots has been extensively studied in open hydrodynamic environments, less research has been focused on limbless locomotion in complex, cluttered aquatic environments. Motivated by the concept…
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TMS), a widely used non-invasive brain…
Any micropolar fluid containing magnetic particles, such as blood or ferrofluids, subjected to an external magnetic field experiences a magnetic torque due to the misalignment between particle magnetization and the magnetic field. This…
All-around, real-time navigation and sensing across the water environments by miniature soft robotics are promising, for their merits of small size, high agility and good compliance to the unstructured surroundings. In this paper, we…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Purpose: The treatment of cardiovascular diseases requires complex and challenging navigation of a guidewire and catheter. This often leads to lengthy interventions during which the patient and clinician are exposed to X-ray radiation. Deep…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…
- In this paper, we focus on a variant of a 3-link magnetic microswimmer which consists of three rigid magnetized segments connected by two torsional springs. In particular, we assume that one of the springs is twisted so that the swimmer…
Flexible robots hold great promise for enhancing minimally invasive surgery (MIS) by providing superior dexterity, precise control, and safe tissue interaction. Yet, translating these advantages into endoscopic interventions within open…
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external permanent magnets (EPM) is challenging due to nonlinear magnetic…
Microscopic robots could perform tasks with high spatial precision, such as acting in biological tissues on the scale of individual cells, provided they can reach precise locations. This paper evaluates the feasibility of in vivo locomotion…
Vascular shunt insertion is a fundamental surgical procedure used to temporarily restore blood flow to tissues. It is often performed in the field after major trauma. We formulate a problem of automated vascular shunt insertion and propose…
Soft underwater robots typically explore bioinspired designs at the expense of power efficiency when compared to traditional underwater robots, which limits their practical use in real-world applications. We leverage a fluidic closed-loop…
Medical steerable needles can move along 3D curvilinear trajectories to avoid anatomical obstacles and reach clinically significant targets inside the human body. Automating steerable needle procedures can enable physicians and patients to…
The development of multifunctional and biocompatible microrobots for biomedical applications relies on achieving locomotion through viscous fluids. Here, we describe a framework for swimming in homogeneous magnetoelastic membranes composed…
Minimally invasive transcatheter approaches are increasingly adopted for aortic stenosis treatment, where optimal commissural and coronary alignment is important. Achieving precise alignment remains clinically challenging, even with…