Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention
Magnetic soft robots have recently become a promising technology that has been applied to minimally invasive cardiovascular surgery. This paper presents the analytical modeling of a novel multi-section magnetic soft robot (MS-MSR) with multi-curvature bending, which is maneuvered by an associated co...
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| Format: | Article |
| Language: | English |
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American Association for the Advancement of Science (AAAS)
2024-01-01
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| Series: | Cyborg and Bionic Systems |
| Online Access: | https://spj.science.org/doi/10.34133/cbsystems.0188 |
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| _version_ | 1846150724784750592 |
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| author | Zhengyang Li Qingsong Xu |
| author_facet | Zhengyang Li Qingsong Xu |
| author_sort | Zhengyang Li |
| collection | DOAJ |
| description | Magnetic soft robots have recently become a promising technology that has been applied to minimally invasive cardiovascular surgery. This paper presents the analytical modeling of a novel multi-section magnetic soft robot (MS-MSR) with multi-curvature bending, which is maneuvered by an associated collaborative multirobot navigation system (CMNS) with magnetic actuation and ultrasound guidance targeted for intravascular intervention. The kinematic and dynamic analysis of the MS-MSR’s telescopic motion is performed using the optimized Cosserat rod model by considering the effect of an external heterogeneous magnetic field, which is generated by a mobile magnetic actuation manipulator to adapt to complex steering scenarios. Meanwhile, an extracorporeal mobile ultrasound navigation manipulator is exploited to track the magnetic soft robot’s distal tip motion to realize a closed-loop control. We also conduct a quadratic programming-based optimization scheme to synchronize the multi-objective task-space motion of CMNS with null-space projection. It allows the formulation of a comprehensive controller with motion priority for multirobot collaboration. Experimental results demonstrate that the proposed magnetic soft robot can be successfully navigated within the multi-bifurcation intravascular environment with a shape modeling error [Formula: see text] and a tip error of [Formula: see text] under the actuation of a CMNS through in vitro ultrasound-guided vasculature interventional tests. |
| format | Article |
| id | doaj-art-0aceb06ad3bb4ed6a51d3ed2743e145d |
| institution | Kabale University |
| issn | 2692-7632 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | American Association for the Advancement of Science (AAAS) |
| record_format | Article |
| series | Cyborg and Bionic Systems |
| spelling | doaj-art-0aceb06ad3bb4ed6a51d3ed2743e145d2024-11-28T09:57:14ZengAmerican Association for the Advancement of Science (AAAS)Cyborg and Bionic Systems2692-76322024-01-01510.34133/cbsystems.0188Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature InterventionZhengyang Li0Qingsong Xu1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China.Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China.Magnetic soft robots have recently become a promising technology that has been applied to minimally invasive cardiovascular surgery. This paper presents the analytical modeling of a novel multi-section magnetic soft robot (MS-MSR) with multi-curvature bending, which is maneuvered by an associated collaborative multirobot navigation system (CMNS) with magnetic actuation and ultrasound guidance targeted for intravascular intervention. The kinematic and dynamic analysis of the MS-MSR’s telescopic motion is performed using the optimized Cosserat rod model by considering the effect of an external heterogeneous magnetic field, which is generated by a mobile magnetic actuation manipulator to adapt to complex steering scenarios. Meanwhile, an extracorporeal mobile ultrasound navigation manipulator is exploited to track the magnetic soft robot’s distal tip motion to realize a closed-loop control. We also conduct a quadratic programming-based optimization scheme to synchronize the multi-objective task-space motion of CMNS with null-space projection. It allows the formulation of a comprehensive controller with motion priority for multirobot collaboration. Experimental results demonstrate that the proposed magnetic soft robot can be successfully navigated within the multi-bifurcation intravascular environment with a shape modeling error [Formula: see text] and a tip error of [Formula: see text] under the actuation of a CMNS through in vitro ultrasound-guided vasculature interventional tests.https://spj.science.org/doi/10.34133/cbsystems.0188 |
| spellingShingle | Zhengyang Li Qingsong Xu Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention Cyborg and Bionic Systems |
| title | Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention |
| title_full | Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention |
| title_fullStr | Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention |
| title_full_unstemmed | Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention |
| title_short | Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention |
| title_sort | multi section magnetic soft robot with multirobot navigation system for vasculature intervention |
| url | https://spj.science.org/doi/10.34133/cbsystems.0188 |
| work_keys_str_mv | AT zhengyangli multisectionmagneticsoftrobotwithmultirobotnavigationsystemforvasculatureintervention AT qingsongxu multisectionmagneticsoftrobotwithmultirobotnavigationsystemforvasculatureintervention |