Abolfathi, K, Medina, JAR, Khaksar, H et al. (5 more authors) (2023) Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots. IEEE Robotics and Automation Letters, 8 (7). pp. 4235-4242. ISSN 2377-3766
Abstract
Fully soft continuum magnetic (FSCMs) microrobots with highly deformable structures have emerged as a potential solution to robotically controlled endovascular interventions. The microrobot's structure is made of magneto-responsive material, which offers full body control under a magnetic field instead of limited tip deformation. The shape control for these microrobots enables steering in complex paths with limited contact with the environment. We studied full body control under fields generated using up to two robotically controlled permanent magnets and in combination with an electromagnetic system. The effect of different parameters, such as the number of permanent magnets, position of the permanent magnets and intensity and direction of the electromagnetic field, on the robot's shape has been experimentally investigated. A mathematical model to predict tip deformation angle (TDA) was introduced and verified experimentally (root mean square error (RMSE) 6.5). Ten different characteristic body shapes were identified based on the curvature of the soft robot. Based on the obtained data, a proof-of-concept demo is presented for the full body controlled soft robots. The accuracy of steering soft robots on a continuous path with all three magnetic control strategies was investigated. The results show that the proposed method effectively enables shape forming and minimizes contact with the surrounding environment (the average distance to the centerline was 1.24 mm). The proposed approach hold promises to elevate endovascular interventions towards the least invasive surgery.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2023 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. |
Keywords: | Fully soft continuum magnetic (FSCMs) microrobots, magnetic control, shape forming, body shape control, microrobot, magneto responsive material. |
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) |
Depositing User: | Symplectic Publications |
Date Deposited: | 06 Jul 2023 16:15 |
Last Modified: | 06 Jul 2023 19:59 |
Published Version: | http://dx.doi.org/10.1109/lra.2023.3280749 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/lra.2023.3280749 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:199942 |