Evolutionary design of magnetic soft continuum robots

Wang，Liu1,2; Zheng，Dongchang1; Harker，Pablo3; Patel，Aman B.3; Guo，Chuan Fei2; Zhao，Xuanhe1,4

2021-05-25

10.1073/pnas.2021922118

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA   影响因子和分区

0027-8424

1091-6490

Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as low steerability and vessel access through complex geometry of vasculatures and imaging-related accumulation of radiation to both patients and operating surgeons. To address these limitations, magnetic soft continuum robots (MSCRs) in the form of magnetic field–controllable elastomeric fibers have recently demonstrated enhanced steerability under remotely applied magnetic fields. While the steerability of an MSCR largely relies on its workspace—the set of attainable points by its end effector—existing MSCRs based on embedding permanent magnets or uniformly dispersing magnetic particles in polymer matrices still cannot give optimal workspaces. The design and optimization of MSCRs have been challenging because of the lack of efficient tools. Here, we report a systematic set of model-based evolutionary design, fabrication, and experimental validation of an MSCR with a counterintuitive nonuniform distribution of magnetic particles to achieve an unprecedented workspace. The proposed MSCR design is enabled by integrating a theoretical model and the genetic algorithm. The current work not only achieves the optimal workspace for MSCRs but also provides a powerful tool for the efficient design and optimization of future magnetic soft robots and actuators.

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

SCI

英语

NI期刊 ; NI论文

其他

WOS:000659439900013

BIOLOGY & BIOCHEMISTRY;CLINICAL MEDICINE;MULTIDISCIPLINARY;PLANT & ANIMAL SCIENCE;ENVIRONMENT/ECOLOGY;SOCIAL SCIENCES, GENERAL;MICROBIOLOGY;ECONOMICS BUSINESS;IMMUNOLOGY;MATERIALS SCIENCE;MATHEMATICS;SPACE SCIENCE;MOLECULAR BIOLOGY & GENETICS;PHARMACOLOGY & TOXICOLOGY;CHEMISTRY;PSYCHIATRY/PSYCHOLOGY;NEUROSCIENCE & BEHAVIOR;PHYSICS;GEOSCIENCES;AGRICULTURAL SCIENCES;ENGINEERING

2-s2.0-85106348902

Scopus

1.Department of Mechanical Engineering,Massachusetts Institute of Technology,Cambridge,02139,United States
2.Department of Materials Science and Engineering,Southern University of Science and Technology,Shenzhen,518055,China
3.Department of Neurosurgery,Massachusetts General Hospital,Harvard Medical School,Boston,02149,United States
4.Department of Civil and Environmental Engineering,Massachusetts Institute of Technology,Cambridge,02139,United States

Wang，Liu,Zheng，Dongchang,Harker，Pablo,et al. Evolutionary design of magnetic soft continuum robots[J]. PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA,2021,118(21).

Wang，Liu,Zheng，Dongchang,Harker，Pablo,Patel，Aman B.,Guo，Chuan Fei,&Zhao，Xuanhe.(2021).Evolutionary design of magnetic soft continuum robots.PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA,118(21).

Wang，Liu,et al."Evolutionary design of magnetic soft continuum robots".PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA 118.21(2021).