期刊
SOFT ROBOTICS
卷 10, 期 3, 页码 647-659出版社
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2022.0031
关键词
magnetic continuum manipulators; local dipole interactions; Cosserat rods; magnetic moment; flexibility
类别
Magnetic continuum manipulators (MCMs) are a type of continuum robots that can be operated by an external magnetic field without direct contact. This study presents a new MCM design framework that allows for increased diameter without sacrificing flexibility and magnetic moment.
Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible magnetic structures that contain combinations of magnetic components and polymers to navigate long and tortuous paths. In cylindrical MCM designs, a significant trade-off exists between magnetic moment and bending flexibility as the ratio between length and diameter decreases. In this study, we propose a new MCM design framework that enables increasing diameter without compromising on flexibility and magnetic moment. Magnetic soft composite helices constitute bending regions of the MCM and are separated by permanent ring magnets. Local dipole interactions between the permanent magnets can reduce bending stiffness, depending on their size and spacing. For the particular segment geometry presented herein, the local dipole interactions result in a 31% increase in angular deflection of composite helices inside an external magnetic field, compared to helices without local interactions. In addition, we demonstrate fabrication, maneuverability, and example applications of a multisegment MCM in a phantom of the abdominal aorta, such as passing contrast dye and guidewires.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据