Self-folding soft-robotic chains with reconfigurable shapes and functionalities

Abstract

Magnetic continuum soft robots can actively steer their tip under an external magnetic field, enabling them to effectively navigate in complex in vivo environments and perform minimally invasive interventions. However, the geometries and functionalities of these robotic tools are limited by the inner diameter of the supporting catheter as well as the natural orifices and access ports of the human body. Here, we present a class of magnetic soft-robotic chains (MaSoChains) that can self-fold into large assemblies with stable configurations using a combination of elastic and magnetic energies. By pushing and pulling the MaSoChain relative to its catheter sheath, repeated assembly and disassembly with programmable shapes and functions are achieved. MaSoChains are compatible with state-of-the-art magnetic navigation technologies and provide many desirable features and functions that are difficult to realize through existing surgical tools. This strategy can be further customized and implemented for a wide spectrum of tools for minimally invasive interventions.

Responsive Magnetic Nanocomposites for Intelligent Shape-Morphing Microrobots

“…In addition to their steering and navigating capabilities, these microscale continuum robots can be designed to incorporate additional functionalities. These functionalities may include steering fluidic transport, steering laser delivery, contact force generation, reconfigurable shapes, and real-time force monitoring, thereby expanding their potential applications. It is worth noting that to optimize the workspace and achieve various reconfigurable shape-changing modes, there is a need for microscale continuum robots with programmable magnetization and rigidity patterns.…”

“…In addition to their steering and navigating capabilities, these microscale continuum robots can be designed to incorporate additional functionalities. These functionalities may include steering fluidic transport, 116 steering laser delivery, 36 contact force generation, 74 reconfigurable shapes, 119 and real-time force monitoring, 120 Sensing. Environmental monitoring represents a significant application of magnetic soft robots.…”

Hard magnetics and soft materials—a synergy

“…This emerging research field offers exciting opportunities for developing innovative materials with tailored properties and novel applications [86]. hMSMs enable the design of soft actuators that can bend, twist, and stretch, mimicking natural movements and offering potential applications in soft robotics and wearable devices [87,88]. These materials also find utility in biomedical fields, where magnetic soft sensors and drug delivery systems have been developed [89,90].…”

Untethered Small-Scale Machines for Microrobotic Manipulation: From Individual and Multiple to Collective Machines

“…Here the USSMs are defined as mobile miniature devices in dimensions from micro/nanometers to millimeter-scale that can perform tasks under wireless control. − This definition is from the view of the microrobotic manipulation system since a moving structure or particle itself cannot be defined as a machine. The mechanically connected manipulators are replaced with USSMs that can be wirelessly actuated by several types of external powers (e.g., magnetic, acoustic, electric fields, and light), − self-generated propulsion, − and hybrid power. , The progress in the untethered system-based microrobotic manipulation has benefited from the distinctive ability of USSMs, such as wireless feedback control and on-demand actuation in complex environments. − …”