11 accepted papers
Magneto-responsive soft materials have gained attention in biomedical engineering, with applications spanning robotics to regenerative medicine and drug delivery. These materials are the backbone of magnetic soft robots (MSRs), enabling customization of the magnetic domains that dictate their morpho…
Continuum manipulators are frequently employed in endoluminal interventions, however, a lack of softness and dexterity in standard manipulators can risk trauma during navigation and limit reachable workspace. Magnetically actuated Soft Continuum Robots (MSCRs) offer enhanced miniaturization potentia
Microrobots and other miniature robots are able to access millimeter-sized spaces and thus have the potential to solve many challenging problems in healthcare. However, clinical adoption of these robots is rare as these systems are often difficult to scale up. One such issue arises from the actuatio
Despite the increased interest in robotic systems designed for bronchoscopy, the influence of the bronchial tree dynamics remains relatively unexplored. To enable robotic solutions to perform successful autonomous navigations whilst minimizing contact with the internal anatomy, they must be capable
Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases a lack of dexterity and miniaturization along with excessive stiffness results in large regions of the anatomy being deemed inaccessible. Soft continuum robots
In this letter, a novel end-effector for surgical applications is presented that uses magnetic actuation in lieu of a more traditional cable-driven tool with the goal of providing high dexterity in hard-to-reach locations by decoupling the tool actuation from the rest of the surgical system. The gri
Current minimally-invasive surgical tools suffer from lack of scalability and restricted access to some surgical sites using a laparoscopic probe. This paper introduces a proof-of-concept prototype of the first completely wireless surgical scissors capable of dexterous motion and cutting in a remote…
Manipulation of micrometer to millimeter-scale objects is central to biotechnological and medical applications involving small-scale robotic devices. Mobile untethered microgrippers have been developed, which use magnetic fields for motion and activation of grasping. This letter extends the capabili