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Bioinspired handheld time-share driven robot with expandable DoFs

Author

Listed:
  • Yunjiang Wang

    (Zhejiang University)

  • Xinben Hu

    (Second Affiliated Hospital of Zhejiang University School of Medicine
    Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases)

  • Luhang Cui

    (Zhejiang University)

  • Xuan Xiao

    (Zhejiang University)

  • Keji Yang

    (Zhejiang University)

  • Yongjian Zhu

    (Second Affiliated Hospital of Zhejiang University School of Medicine
    Key Laboratory of Precise Treatment and Clinical Translational Research of Neurological Diseases)

  • Haoran Jin

    (Zhejiang University)

Abstract

Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as “nerves”, connect to motion modules, enabling the selection of the activated module. The robot contains a 202-gram motor base and a 0.8 cm diameter manipulator comprised of sequentially linked bending modules (BM). The manipulator can be tailored in length and integrated with various instruments in situ, facilitating non-invasive access and high-dexterous operation at remote surgical sites. The applicability was demonstrated in clinical scenarios, where a surgeon held the robot to conduct transluminal experiments on a human stomach model and an ex vivo porcine stomach. The time-share driven mechanism offers a pragmatic approach to build a multi-degree-of-freedom robot for broader applications.

Suggested Citation

  • Yunjiang Wang & Xinben Hu & Luhang Cui & Xuan Xiao & Keji Yang & Yongjian Zhu & Haoran Jin, 2024. "Bioinspired handheld time-share driven robot with expandable DoFs," Nature Communications, Nature, vol. 15(1), pages 1-10, December.
    • Handle: RePEc:nat:natcom:v:15:y:2024:i:1:d:10.1038_s41467-024-44993-x
    DOI: 10.1038/s41467-024-44993-x
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    References listed on IDEAS

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