Skip to main content
SpringerLink
Log in

Dexterity of Concentric Magnetic Continuum Robot with Multiple Stiffness

  • Conference paper
  • First Online:
Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

Included in the following conference series:

Abstract

With the advancement of minimally invasive surgery, research pertaining to miniature continuum robots is progressively gaining momentum. In contrast to non-magnetic continuum robots, magnetic continuum robots (MCRs) exhibit a simple structure and dexterous operation characteristics, as they can be remotely and wirelessly controlled through magnetic manipulation. Dexterity serves as a vital parameter in evaluating MCRs. Nevertheless, conventional MCRs encounter limited dexterity and controllability issues due to their soft bodies. To enhance the dexterity of MCRs, we propose a novel concentric magnetic continuum robot (C-MCR), comprising a magnetic catheter and magnetic guidewire in a concentric combination. The substantial discrepancy in stiffness between the catheter and the guidewire facilitates the C-MCR to operate in four working modes, resulting in superior dexterity. Within this study, we evaluated the dexterity of the C-MCR utilizing a homemade eight-coil electromagnetic system. The experimental findings demonstrate that the C-MCR exhibits better dexterity, simplified operation, minimal risk, and promising prospects for clinical applications.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 69.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 89.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Jinxing, L.: Micro/nanorobots for biomedicine: delivery, surgery, sensing, and detoxification. Sci. Robot. 2(4), 6431 (2017)

    Article  Google Scholar 

  2. Menaker, S.A., Shah, S.S., Snelling, B.M., Sur, S., Starke, R.M., Peterson, E.C.: Current applications and future perspectives of robotics in cerebrovascular and endovascular neurosurgery. J. NeuroIntervent. Surg. 10(1), 78–82 (2018)

    Article  Google Scholar 

  3. Valentina, V.: Emerging robotic platforms for minimally invasive surgery. IEEE Rev. Biomed. Eng. 6, 111–126 (2013)

    Article  Google Scholar 

  4. Mayank, G.: Neurointerventional robotics: challenges and opportunities. Clin. Neuroradiol. 30(2), 203–208 (2020)

    Article  Google Scholar 

  5. Mark, R.: Soft robotics in minimally invasive surgery. Soft Robot. 6(4), 423–443 (2019)

    Article  Google Scholar 

  6. Matteo, C.: Biomedical applications of soft robotics. Nat. Rev. Mater. 3(6), 143–153 (2018)

    Article  Google Scholar 

  7. Yang, G.-Z.: The grand challenges of science robotics. Sci. Robot. 3(14), 7650 (2018)

    Article  Google Scholar 

  8. Jessica, B.-K.: Continuum robots for medical applications: a survey. IEEE Trans. Robot. 31(6), 1261–1280 (2015)

    Article  Google Scholar 

  9. Matteo, R.: Continuum robots: an overview. Adv. Intell. Syst. 5 (2023) https://doi.org/10.1002/aisy.202200367

  10. Yoonho, K.: Ferromagnetic soft continuum robots. Sci. Robot. 4(33), 7329 (2019)

    Article  Google Scholar 

  11. Yoonho, K.: Telerobotic neurovascular interventions with magnetic manipulation. Sci. Robot. 7(65), 9907 (2022)

    Article  Google Scholar 

  12. Daojing, L.: A magnetic continuum robot with multi-mode control using opposite-magnetized magnets. IEEE Robot. Autom. Lett. 6(2), 2485–2492 (2021)

    Article  Google Scholar 

  13. Daojing, L.: Kinematic analysis of multi-section opposite magnetic catheter robots with solution multiplicity. IEEE Trans. Autom. Sci. Eng. Lett. 1–12 (2022)

    Google Scholar 

  14. Daojing, L.: Position and orientation control of multisection magnetic soft microcatheters. IEEEASME Trans. Mechatron. 28(2), 907–918 (2023)

    Article  Google Scholar 

  15. Mattmann, M.: Thermoset shape memory polymer variable stiffness 4D robotic catheters. Adv. Sci. 9(1), 2103277 (2022)

    Article  Google Scholar 

  16. Jonas, L.: A Submillimeter Continuous Variable Stiffness Catheter for Compliance Control. Adv. Sci. 8(18), 2101290 (2021)

    Article  Google Scholar 

  17. Yegor, P.: A variable stiffness magnetic catheter made of a conductive phase-change polymer for minimally invasive surgery. Adv. Funct. Mater. 32(20), 2107662 (2022)

    Article  Google Scholar 

  18. Christophe, C.: Magnetic continuum device with variable stiffness for minimally invasive surgery. Adv. Intell. Syst. 2(6), 1900086 (2020)

    Article  Google Scholar 

  19. Na, L.: Novel concentric magnetic continuum robot with multiple stiffness modes for potential delivery of nanomedicine. Magnetochemistry. 9(5), 5 (2023)

    Google Scholar 

  20. Tiantian, X., Jiangfan, Y., Yan, X., Choi, H., Zhang, L.: Magnetic actuation based motion control for microrobots: an overview. Micromachines 6(9), 1346–1364 (2015)

    Article  Google Scholar 

Download references

Acknowledgement

This work was supported by the CAS Project for Young Scientists in Basic Research (Grant No. YSBR-036), the National Natural Science Foundation of China (Grant Nos. 62273331, 61925307, 62127811, 61821005), and the CAS/SAFEA International Partnership Program for Creative Research Teams.

Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Na Li, Daojing Lin, Junfeng Wu, Quan Gan & Niandong Jiao

  2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China

    Na Li, Daojing Lin, Junfeng Wu, Quan Gan & Niandong Jiao

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Na Li, Daojing Lin, Junfeng Wu & Quan Gan

Authors
  1. Na Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Daojing Lin
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Junfeng Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Quan Gan
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Niandong Jiao
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Niandong Jiao .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

Rights and permissions

Reprints and permissions

Copyright information

© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Li, N., Lin, D., Wu, J., Gan, Q., Jiao, N. (2023). Dexterity of Concentric Magnetic Continuum Robot with Multiple Stiffness. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_28

Download citation

  • DOI: https://doi.org/10.1007/978-981-99-6501-4_28

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation