Publication:
Heterogeneous multiple soft millirobots in three-dimensional lumens

dc.contributor.coauthorWang, Chunxiang
dc.contributor.coauthorWang, Tianlu
dc.contributor.coauthorLi, Mingtong
dc.contributor.coauthorZhang, Rongjing
dc.contributor.coauthorUgurlu, Halim
dc.contributor.departmentDepartment of Mechanical Engineering
dc.contributor.departmentSchool of Medicine
dc.contributor.kuauthorSitti, Metin
dc.contributor.schoolcollegeinstituteCollege of Engineering
dc.contributor.schoolcollegeinstituteSCHOOL OF MEDICINE
dc.date.accessioned2025-03-06T21:00:25Z
dc.date.issued2024
dc.description.abstractMiniature 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 in 3D lumens. Last, robots are controlled individually in multilayer lumen networks under medical imaging. Demonstrations of multilocation cargo delivery and flow diversion manifest their potential to enhance biomedical functions. This framework offers a solution to multirobot actuation benefiting applications across different miniature robotic devices in complex environments.
dc.description.indexedbyWOS
dc.description.indexedbyScopus
dc.description.indexedbyPubMed
dc.description.publisherscopeInternational
dc.description.sponsoredbyTubitakEuEU
dc.description.sponsorshipC.W.,T.W., R.Z., and M.S. received the funding from the Max Planck Society and European Research Council (ERC) Advanced Grant SoMMoR project with grant no.834531. H.U. received the funding from Zentrum fur Radiologie Heilbronn. M.L. and M.S. received the funding from German Research Foundation (DFG) Soft Material Robotic Systems (SPP 2100) Program with grant no.2197/5-1. C.W. and M.S. received the funding from the Max Planck Queensland Center for the Materials Science of Extracellular Matrices.
dc.identifier.doi10.1126/sciadv.adq1951
dc.identifier.grantnoMax Planck Society;European Research Council (ERC) Advanced Grant SoMMoR project [834531];Zentrum fur Radiologie Heilbronn;German Research Foundation (DFG) Soft Material Robotic Systems (SPP 2100) Program [2197/5-1];Max Planck Queensland Center for the Materials Science of Extracellular Matrices
dc.identifier.issn2375-2548
dc.identifier.issue45
dc.identifier.quartileQ1
dc.identifier.scopus2-s2.0-85208689090
dc.identifier.urihttps://doi.org/10.1126/sciadv.adq1951
dc.identifier.urihttps://hdl.handle.net/20.500.14288/27884
dc.identifier.volume10
dc.identifier.wos1348273700013
dc.keywordsSoft millirobots
dc.keywordsHeterogeneous robots
dc.keywords3D lumens
dc.keywordsBiomedical robotics
dc.keywordsMinimally invasive surgery
dc.keywordsMicrorobotics
dc.keywordsMedical robotics
dc.keywordsRobot-assisted therapy
dc.keywordsSoft robotics
dc.keywordsLumen navigation
dc.language.isoeng
dc.publisherAmerican Association for the Advancement of Science
dc.relation.ispartofScience Advances
dc.subjectMultidisciplinary sciences
dc.titleHeterogeneous multiple soft millirobots in three-dimensional lumens
dc.typeJournal Article
dspace.entity.typePublication
local.publication.orgunit1College of Engineering
local.publication.orgunit1SCHOOL OF MEDICINE
local.publication.orgunit2Department of Mechanical Engineering
local.publication.orgunit2School of Medicine
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