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Magnetic steering continuum robot for transluminal procedures with programmable shape and functionalities

Author

Listed:
  • Liyang Mao

    (Harbin Institute of Technology)

  • Peng Yang

    (Harbin Institute of Technology)

  • Chenyao Tian

    (Harbin Institute of Technology)

  • Xingjian Shen

    (Harbin Institute of Technology)

  • Feihao Wang

    (Harbin Institute of Technology)

  • Hao Zhang

    (Harbin Institute of Technology)

  • Xianghe Meng

    (Harbin Institute of Technology)

  • Hui Xie

    (Harbin Institute of Technology)

Abstract

Millimeter-scale soft continuum robots offer safety and adaptability in transluminal procedures due to their passive compliance, but this feature necessitates interactions with surrounding lumina, leading to potential medical risks and restricted mobility. Here, we introduce a millimeter-scale continuum robot, enabling apical extension while maintaining structural stability. Utilizing phase transition components, the robot executes cycles of tip-based elongation, steered accurately through programmable magnetic fields. Each motion cycle features a solid-like backbone for stability, and a liquid-like component for advancement, thereby enabling autonomous shaping without reliance on environmental interactions. Together with clinical imaging technologies, we demonstrate the capability of navigating through tortuous and fragile lumina to transport microsurgical tools. Once it reaches larger anatomical spaces such as stomach, it can morph into functional 3D structures that serve as surgical tools or sensing units, overcoming the constraints of initially narrow pathways. By leveraging this design paradigm, we anticipate enhanced safety, multi-functionality, and cooperative capabilities among millimeter-scale continuum robots, opening new avenues for transluminal robotic surgery.

Suggested Citation

  • Liyang Mao & Peng Yang & Chenyao Tian & Xingjian Shen & Feihao Wang & Hao Zhang & Xianghe Meng & Hui Xie, 2024. "Magnetic steering continuum robot for transluminal procedures with programmable shape and functionalities," Nature Communications, Nature, vol. 15(1), pages 1-16, December.
    • Handle: RePEc:nat:natcom:v:15:y:2024:i:1:d:10.1038_s41467-024-48058-x
    DOI: 10.1038/s41467-024-48058-x
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    References listed on IDEAS

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    1. Cheng Zhou & Youzhou Yang & Jiaxin Wang & Qingyang Wu & Zhuozhi Gu & Yuting Zhou & Xurui Liu & Yueying Yang & Hanchuan Tang & Qing Ling & Liu Wang & Jianfeng Zang, 2021. "Ferromagnetic soft catheter robots for minimally invasive bioprinting," Nature Communications, Nature, vol. 12(1), pages 1-12, December.
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    3. Lucio Pancaldi & Pietro Dirix & Adele Fanelli & Augusto Martins Lima & Nikolaos Stergiopulos & Pascal John Mosimann & Diego Ghezzi & Mahmut Selman Sakar, 2020. "Flow driven robotic navigation of microengineered endovascular probes," Nature Communications, Nature, vol. 11(1), pages 1-14, December.
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