بحث بعنوان Millimeter-Scale Soft Continuum Robots for Large-Angle and High-Precision Manipulation by Hybrid Actuation

بحث بعنوان
Millimeter-Scale Soft Continuum Robots for Large-Angle and High-Precision Manipulation by Hybrid Actuation
Tieshan Zhang, Liu Yang, Xiong Yang, Rong Tan, Haojian Lu,* and Yajing Shen*
Developing small-scale soft continuum robots with large-angle steering capacity
and high-precision manipulation offers broad opportunities in various biomedical
settings. However, existing continuum robots reach the bottleneck in actuation
on account of the contradiction among small size, compliance actuation, large
tender range, high precision, and small dynamic error. Herein, a 3D-printed
millimeter-scale soft continuum robot with an ultrathin hollow skeleton wall
(300 μm) and a large inner-to-outer ratio (0.8) is reported. After coating a thin
ferromagnetic elastomer layer (
100–150 μm), the proposed soft continuum
robot equipped with hybrid actuation (tendon- and magnetic-driven mode)
achieves large-angle (up to 100) steering and high-precision (low to 2 μm for
static positioning) micromanipulation simultaneously. Specifically, the robot
implements an ultralow dynamic tracking error of
10 μm, which is
30-fold
improved than the state of art. Combined with a microneedle/knife or nasopharyngeal swab, the robot reveals the potential for versatile biomedical applications, such as drug injection on the target tissue, diseased tissue ablation, and
COVID-19 nasopharyngeal sampling. The proposed millimeter-scale soft continuum robot presents remarkable advances in large-range and high-precise
actuation, which provides a new method for miniature continuum robot design
and finds broad applications in biomedical engineering.
Conclusion
Here, we present a millimeter-scale soft continuum robot with
the hybrid-actuation mode: a magnetic- and tendon-driven
catheter with good steering and navigation capability to adapt
to the complex constrained environment while being capable
of conducting high-precision manipulation. With a unique hollow structure and a large inner lumen of 2.4 mm, the proposed
robot can easily deflect along all directions away from its longitudinal axis and can encapsulate different surgical tools for varied
manipulation, respectively. Under the actuation of tendons, the
proposed robot can achieve a bending angle up to 100 and reach
a large workspace, which does help the robot pass through a complex branched vessel. To obtain better actuation performance
under an applied magnetic field, we proposed an optimization
for the mass fraction of iron particles embedded in the elastomer skin of the soft continuum robot. The merits of high-precision
static positioning (
2 μm) and dynamic tracking (RMSE of

10 μm) were proved under a controllable magnetic field.
With a combination of tendon-driven and magnetic actuation,
the prototype demonstrated good steering within a complex constrained environment and precise tracking capability. By incorporating additional functionality of surgical tools inside, the
proposed soft robot can achieve versatile manipulations, e.g., target injection and ablation within vessels, and nasopharyngeal
sampling. With the merits of large-angle steering and high-precise manipulation, the proposed millimeter-scale soft continuum
robot will present remarkable advances in the emerging area of
biomedical robotics.

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