Lloyd, P, Onaizah, O, Pittiglio, G orcid.org/0000-0002-0714-5267 et al. (3 more authors) (2022) Magnetic Soft Continuum Robots With Braided Reinforcement. IEEE Robotics and Automation Letters. ISSN 2377-3766
Abstract
Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases a lack of dexterity and miniaturization along with excessive stiffness results in large regions of the anatomy being deemed inaccessible. Soft continuum robots have the potential to mitigate these issues. Due to its enormous potential for miniaturization, magnetic actuation is of particular interest in this field. Currently, flexible magnetic catheters often rely on interactive forces to generate large deformations during navigation and for soft anatomical structures this could be considered potentially damaging. In this study we demonstrate the insertion of a high aspect ratio, 50 mm long by 2 mm diameter, soft magnetic catheter capable of navigating up to a 180∘ bend without the aid of forces of anatomical interaction. This magnetic catheter is reinforced with a lengthwise braided structure and its magnetization allows it to shape form along tortuous paths. We demonstrate our innovation in a planar silicone pancreas phantom. We also compare our approach with a mechanically equivalent tip driven magnetic catheter and with an identically magnetized, unreinforced catheter.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. For the purpose of open access, the author(s) has applied a Creative Commons Attribution (CC BY) license to any Accepted Manuscript version arising. |
Keywords: | Magnetic Continuum Manipulators, Soft Robots, Surgical Robotics, Magnetic Actuation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number EU - European Union 818045 EPSRC (Engineering and Physical Sciences Research Council) EP/V009818/1 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 |
Depositing User: | Symplectic Publications |
Date Deposited: | 13 Jul 2022 13:27 |
Last Modified: | 27 Jul 2022 10:49 |
Status: | Published online |
Publisher: | Institute of Electrical and Electronics Engineers |
Identification Number: | 10.1109/LRA.2022.3191552 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:188723 |