Continuum robots,characterized by their simplicity,softness,and flexibility,hold significant promise for applications in the field of minimally invasive surgery.Nevertheless,the majority of existing continuum robots a...Continuum robots,characterized by their simplicity,softness,and flexibility,hold significant promise for applications in the field of minimally invasive surgery.Nevertheless,the majority of existing continuum robots are plagued by issues such as a single stiffness property and restricted operation space.To address these challenges,we have engineered a multistiffness nested cooperative magnetic continuum robot grounded in low melting point alloy(LMPA).The core components of this innovative robot are an orientator and a tracker.By integrating neodymium magnets within the orientator,the robot can effectively respond to the external magnetic field,thereby endowing it with a navigation capability.Furthermore,through precisely adjusting the phase and amplitude of the waveforms generated by the signal generator along the X,Y,and Z axes,the Helmholtz coils can produce programmable and controllable magnetic fields.This enables the robot to map out diverse paths,including the typical L-shaped,S-shaped,and U-shaped trajectories.Functionally,when equipped with a shape memory alloy(SMA)gripper,the robot can move steadily and precisely grasp objects within complex passages.This remarkable performance strongly attests to the robot's potential application value in industrial inspection,minimally invasive surgery,and other relevant fields.展开更多
基金supported by the National Key R&D Program of China(Grant No.2024YFB4707300)the National Natural Science Foundation of China(Grant No.62273289)+3 种基金the Youth Innovation Science and Technology Support Program of Shandong Province(Grant No.2022KJ274)the Shandong Provincial Natural Science Foundation(Grant No.ZR2024MF007)the Fundamental Research Projects of Science&Technology Innovation and Development Plan in Yantai City(Grant No.2024JCYJ050)the Graduate Innovation Foundation of Yantai University。
文摘Continuum robots,characterized by their simplicity,softness,and flexibility,hold significant promise for applications in the field of minimally invasive surgery.Nevertheless,the majority of existing continuum robots are plagued by issues such as a single stiffness property and restricted operation space.To address these challenges,we have engineered a multistiffness nested cooperative magnetic continuum robot grounded in low melting point alloy(LMPA).The core components of this innovative robot are an orientator and a tracker.By integrating neodymium magnets within the orientator,the robot can effectively respond to the external magnetic field,thereby endowing it with a navigation capability.Furthermore,through precisely adjusting the phase and amplitude of the waveforms generated by the signal generator along the X,Y,and Z axes,the Helmholtz coils can produce programmable and controllable magnetic fields.This enables the robot to map out diverse paths,including the typical L-shaped,S-shaped,and U-shaped trajectories.Functionally,when equipped with a shape memory alloy(SMA)gripper,the robot can move steadily and precisely grasp objects within complex passages.This remarkable performance strongly attests to the robot's potential application value in industrial inspection,minimally invasive surgery,and other relevant fields.
