Magnetic soft continuum robots with contact forces

Wang，Liu1,2,3; Guo，Chuan Fei2,3; Zhao，Xuanhe1,4

2022-02-01

10.1016/j.eml.2022.101604

Extreme Mechanics Letters   影响因子和分区

2352-4316

The emerging magnetic soft continuum robots (MSCRs) - a type of slender magnetoactive soft rods that can be steered remotely by magnetic fields - hold great potential in interventional treatments of cardiovascular diseases. While forming stable contact between the distal tips of MSCRs and targeted lesions is critical in many applications such as cardiac ablations, existing designs of MSCRs have not systematically considered their contact with the external environments. In this work, we present a set of designs and optimization of MSCRs that can apply forces in contact with the environments based on theoretical modeling and numerical analysis. We propose to design MSCRs with nonuniform magnetization and nonuniform rigidity patterns so that they can achieve high steerability in the confined anatomy and apply sufficient contact forces at the targeted lesions. We first adopt the theory of hard-magnetic elastica to describe the large deflection of the MSCR with contact forces at the distal tip. We then discretize the MSCR using the finite difference method and solve for the deformation and contact forces numerically. The developed finite difference method is validated by both analytical solutions and finite element simulations. We further adopt the genetic algorithm to achieve an optimized design of the MSCR that potentially has a high steerability and capability of applying forces. Offering a facile route to analyze and optimize MSCRs with contact forces, the present work may facilitate the design of MSCRs for applications in endovascular settings. (C) 2022 Published by Elsevier Ltd.

Magnetic soft continuum robot Contact force Hard-magnetic elastica Finite difference method Genetic algorithm

SCI ; EI

英语

其他

Engineering ; Materials Science ; Mechanics

Engineering, Mechanical ; Materials Science, Multidisciplinary ; Mechanics

WOS:000819921400007

ELSEVIER

20220611606900

Diseases ; Finite difference method ; Magnetism ; Robots

Magnetism: Basic Concepts and Phenomena:701.2 ; Robotics:731.5 ; Numerical Methods:921.6

Web of Science

1.Department of Mechanical Engineering,Massachusetts Institute of Technology,Cambridge,02139,United States
2.Centers for Mechanical Engineering Research and Education at Massachusetts Institute of Technology,Cambridge,02139,United States
3.Southern University of Science and Technology,Shenzhen,518055,China
4.Department of Civil and Environmental Engineering,Massachusetts Institute of Technology,Cambridge,02139,United States

Wang，Liu,Guo，Chuan Fei,Zhao，Xuanhe. Magnetic soft continuum robots with contact forces[J]. Extreme Mechanics Letters,2022,51.

Wang，Liu,Guo，Chuan Fei,&Zhao，Xuanhe.(2022).Magnetic soft continuum robots with contact forces.Extreme Mechanics Letters,51.

Wang，Liu,et al."Magnetic soft continuum robots with contact forces".Extreme Mechanics Letters 51(2022).