Publication: Heterogeneous multiple soft millirobots in three-dimensional lumens
dc.contributor.coauthor | Wang, Chunxiang | |
dc.contributor.coauthor | Wang, Tianlu | |
dc.contributor.coauthor | Li, Mingtong | |
dc.contributor.coauthor | Zhang, Rongjing | |
dc.contributor.coauthor | Ugurlu, Halim | |
dc.contributor.department | Department of Mechanical Engineering | |
dc.contributor.department | School of Medicine | |
dc.contributor.kuauthor | Sitti, Metin | |
dc.contributor.schoolcollegeinstitute | College of Engineering | |
dc.contributor.schoolcollegeinstitute | SCHOOL OF MEDICINE | |
dc.date.accessioned | 2025-03-06T21:00:25Z | |
dc.date.issued | 2024 | |
dc.description.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 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.indexedby | WOS | |
dc.description.indexedby | Scopus | |
dc.description.indexedby | PubMed | |
dc.description.publisherscope | International | |
dc.description.sponsoredbyTubitakEu | EU | |
dc.description.sponsorship | C.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.doi | 10.1126/sciadv.adq1951 | |
dc.identifier.grantno | Max 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.issn | 2375-2548 | |
dc.identifier.issue | 45 | |
dc.identifier.quartile | Q1 | |
dc.identifier.scopus | 2-s2.0-85208689090 | |
dc.identifier.uri | https://doi.org/10.1126/sciadv.adq1951 | |
dc.identifier.uri | https://hdl.handle.net/20.500.14288/27884 | |
dc.identifier.volume | 10 | |
dc.identifier.wos | 1348273700013 | |
dc.keywords | Soft millirobots | |
dc.keywords | Heterogeneous robots | |
dc.keywords | 3D lumens | |
dc.keywords | Biomedical robotics | |
dc.keywords | Minimally invasive surgery | |
dc.keywords | Microrobotics | |
dc.keywords | Medical robotics | |
dc.keywords | Robot-assisted therapy | |
dc.keywords | Soft robotics | |
dc.keywords | Lumen navigation | |
dc.language.iso | eng | |
dc.publisher | American Association for the Advancement of Science | |
dc.relation.ispartof | Science Advances | |
dc.subject | Multidisciplinary sciences | |
dc.title | Heterogeneous multiple soft millirobots in three-dimensional lumens | |
dc.type | Journal Article | |
dspace.entity.type | Publication | |
local.publication.orgunit1 | College of Engineering | |
local.publication.orgunit1 | SCHOOL OF MEDICINE | |
local.publication.orgunit2 | Department of Mechanical Engineering | |
local.publication.orgunit2 | School of Medicine | |
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