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• W3089778432 abstract "Medical procedures often involve a device moving through a natural lumen of the human body (e.g., intestines, blood vessels). However, with existing technology, it is difficult, impossible, or traumatic to reach certain locations. In this article, we present a magnetically actuated soft-robotic concept for use in endoluminal applications (e.g., capsule endoscopes and catheters). The soft endoluminal robot is a simple device comprising two or more permanent magnets, axially magnetized and embedded co-axially with alternating polarity in a compliant body, with an optional internal lumen, actuated by an external rotating magnetic dipole field. We use simulations to elucidate the actuation concept’s underlying physics and, combined with experiments, demonstrate how the proposed concept outperforms other potential variations. We experimentally demonstrate the robustness to misalignment between the soft robot and the applied field, enabling operation in different applications without precise knowledge of the robot’s orientation or precise control of the actuator dipole field. Experiments are then performed inside a synthetic bowel to compare capsule-endoscope-size robots and multi-component robots formed by connecting multiple capsule-endoscope-size robots axially. Finally, experiments in a synthetic stomach show how the concept lends itself to directed self-assembly in the stomach, thus creating robots that are larger than could be swallowed." @default.
• W3089778432 created "2020-10-08" @default.
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• W3089778432 date "2020-11-01" @default.
• W3089778432 modified "2023-10-02" @default.
• W3089778432 title "Soft Endoluminal Robots Propelled by Rotating Magnetic Dipole Fields" @default.
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• W3089778432 doi "https://doi.org/10.1109/tmrb.2020.3027871" @default.
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