A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots

Lloyd, Peter; Hoshiar, Ali Kafash; Veiga, Tomás da; Attanasio, Aleks; Marahrens, Nils; Chandler, James H.; Valdastri, Pietro

doi:10.1109/lra.2020.2983704

Cited by 65 publications

(48 citation statements)

References 37 publications

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“…Consequently, magnetically steered catheters and guide wires, whose motion of the near-tip region is steered by the applied magnetic field, have been demonstrated in various sizes. [138,[189][190][191][192][193] These catheters and guide wires may have permanent magnets [190][191][192] or magnetic microparticles [138,193] embedded and distributed inside the tube, as shown in Figure 7b,c, respectively. A lubrication layer made of hydrogel can reduce the risk of injury.…”

Section: Magnetically Controlled Surgical Robotsmentioning

confidence: 99%

Magnetically Controlled Soft Robotics Utilizing Elastomers and Gels in Actuation: A Review

Chung

Parsons

Zheng

2020

Advanced Intelligent Systems

111

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A magnetic field has unique advantages in controlling soft robotics inside of an enclosed space, such as surgical catheters or untethered drug‐delivering robots operating in the human body. Soft actuators, made of elastomers and gels functionalized with magnetically active materials, are natural choices to drive magnetically controlled motions of soft robots. Recent innovations in soft material technologies, including 3D printing, origami/kirigami, tough hydrogels, mechanical metamaterials, and liquid metal‐injected elastomers, offer technological foundations to develop soft actuators and robots with significantly enhanced performance. Herein, an overview of magnetic soft actuators and robots from a materials engineer's perspective is provided. First, the historical background and recent trends of magnetic soft actuators are discussed. Second, the motions of tethered or untethered magnetic soft robotics are classified into aquatic swimmers, terrestrial locomotors, and grippers. Herein, preprogrammed motion under patterned magnetic stimuli is achieved by controlled magnetization of elastomeric materials containing hard magnetic particles. Finally, the applications of magnetically controlled soft robotics in surgical and therapeutic medical devices are discussed.

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Section: Magnetically Controlled Surgical Robotsmentioning

confidence: 99%

Magnetically Controlled Soft Robotics Utilizing Elastomers and Gels in Actuation: A Review

Chung

Parsons

Zheng

2020

Advanced Intelligent Systems

111

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“…Since the magnetic CR consists of uniform soft polymer matrix and uniformly dispersed magnetic particles, the robot can not only be miniaturized in diameter, but its hydrogel skin can also reduce friction. Lloyd et al [47] presented a elongated, soft, magnetic-driven, tentacle-shaped robot and proposed a new design method derived from Neural Network (NN) trained using Finite Element Simulations (FES). They demonstrated how their design method produces static and homogeneous-driven 2D tentacle contour under the deformations derived from predefinition and expectation.…”

Section: Magnetic Continuum Robotsmentioning

confidence: 99%

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Zhong

2020

Actuators

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Traditional rigid robot application in the medical field is limited due to the limited degrees of freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes, continuum robot (CR) could traverse confined space, manipulate objects in complex environment, and conform to curvilinear paths in space. The continuum robot has broad prospect in surgery due to its high dexterity, which can reach circuitous areas of the body and perform precision surgery. Recently, many efforts have been done by researchers to improve the design and actuation methods of continuum robots. Several continuum robots have been applied in clinic surgical interventions and demonstrated superiorities to conventional rigid-link robots. In this paper, we provide an overview of the current development of continuum robots, including the design principles, actuation methods, application prospect, limitations, and challenge. And we also provide perspective for the future development. We hope that with the development of material science, Engineering ethics, and manufacture technology, new methods can be applied to manufacture continuum robots for specific surgical procedures.

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“…Alternatively, continuously magnetized CMs consist of magnetic composite polymers [6]. These can be used to fabricate specialized magnetization profiles for target applications [7,8]. The magnetized CMs deform due to a magnetic wrench, exerted on their magnetic regions by a magnetic field.…”

Section: Introductionmentioning

confidence: 99%

Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators

Richter

Venkiteswaran

Misra

2021

IEEE Robot. Autom. Lett.

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In the past decade, remote actuation through magnetic fields has been used for position and orientation control of continuum manipulators (CMs) with a single magnet at the distal tip. By leveraging multiple points of actuation along the length of the CM it is possible to achieve increasingly complex shapes, which could be of interest in complex navigation tasks, for example, in minimally invasive surgery. In this study we present an approach for multi-point orientation control of discretely magnetized CMs. The approach is demonstrated with a manipulator that contains two permanent magnets, which are each actuated inside a non-homogeneous magnetic field. We formulate an accurate field model that conforms to Maxwell's equations and apply this to the available actuation system. Furthermore, Cosserat rod theory is used to model the manipulator deformation under external wrenches, and is utilized to numerically compute a Jacobian necessary to calculate the actuation inputs. During experiments, a stereo vision setup is used for manipulator shape feedback. Target orientations are manually provided as input to show independent orientation control of the two permanent magnets. Additionally, simulations with an extended virtual clone of the electromagnetic system are performed to show the capability of achieving more complex manipulator shapes. In both scenarios, it is observed that the algorithm is able to independently control the orientation of two interconnected magnets in a non-uniform magnetic field.

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A Learnt Approach for the Design of Magnetically Actuated Shape Forming Soft Tentacle Robots

Abstract: This is a repository copy of A learnt approach for the design of magnetically actuated shape forming soft tentacle robots.

Cited by 65 publications

References 37 publications

Magnetically Controlled Soft Robotics Utilizing Elastomers and Gels in Actuation: A Review

Magnetically Controlled Soft Robotics Utilizing Elastomers and Gels in Actuation: A Review

Recent Advances in Design and Actuation of Continuum Robots for Medical Applications

Multi-Point Orientation Control of Discretely-Magnetized Continuum Manipulators

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