Heterogeneous multiple soft millirobots in three-dimensional lumens.

ABSTRACT: Miniature soft robots offer opportunities for safe and physically adaptive medical interventions in hard-to-reach regions. Deploying multiple robots could further enhance the efficacy and multifunctionality of these operations. However, multirobot deployment in physiologically relevant three-dimensional (3D) tubular structures is limited by the lack of effective mechanisms for independent control of miniature magnetic soft robots. This work presents a framework leveraging the shape-adaptive robotic design and heterogeneous resistance from robot-lumen interactions to enable magnetic multirobot control. We first compute influence and actuation regions to quantify robot movement. Subsequently, a path planning algorithm generates the trajectory of a permanent magnet for multirobot navigation i

SUBMITTER: Wang C 

PROVIDER: S-EPMC11540014 | biostudies-literature | 2024 Nov

REPOSITORIES: biostudies-literature