Adaptive wireless millirobotic locomotion into distal vasculature

Wang, Tianlu; Ugurlu, Halim; Yan, Yingbo; Li, Mingtong; Meng, Lu; Wild, Anna‐Maria; Yıldız, Erdost; Schneider, Martina; Sheehan, Devin; Hu, Wenqi; Sitti, Metin

doi:10.1038/s41467-022-32059-9

Cited by 67 publications

(55 citation statements)

References 74 publications

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“…Third, the ISDH-enabled DIW can also print functional thermosets with intricate 3D structures. For example, magnetic stents that have promising applications in cardiovascular diseases have been reported in some recent works 45 , 46 . Due to the hollow thin wall and highly tilted connecting ribbons, conventional molding and DIW approaches have difficulty or low efficacy in their manufacturing.…”

Section: Resultsmentioning

confidence: 99%

3D printing of thermosets with diverse rheological and functional applicabilities

Sun

Wang

et al. 2023

Nat Commun

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Thermosets such as silicone are ubiquitous. However, existing manufacturing of thermosets involves either a prolonged manufacturing cycle (e.g., reaction injection molding), low geometric complexity (e.g., casting), or limited processable materials (e.g., frontal polymerization). Here, we report an in situ dual heating (ISDH) strategy for the rapid 3D printing of thermosets with complex structures and diverse rheological properties by incorporating direct ink writing (DIW) technique and a heating-accelerated in situ gelation mechanism. Enabled by an integrated Joule heater at the printhead, extruded thermosetting inks can quickly cure in situ, allowing for DIW of various thermosets with viscosities spanning five orders of magnitude, printed height over 100 mm, and high resolution of 50 μm. We further demonstrate DIW of a set of heterogenous thermosets using multiple functional materials and present a hybrid printing of a multilayer soft electronic circuit. Our ISDH strategy paves the way for fast manufacturing of thermosets for various emerging fields.

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Section: Resultsmentioning

confidence: 99%

3D printing of thermosets with diverse rheological and functional applicabilities

Sun

Wang

et al. 2023

Nat Commun

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“…If targeting other fields, such as interventional robotic devices, the proposed method can be applied but need further improvements. For the interventional robotic devices at several millimeters, [62][63][64] the friction is still closely related to the positive pressure and friction coefficient between the two bodies in contact. The proposed method can be directly applied to the distal continuum joint of the interventional devices for stiffness adjustment with the reduced pipeline size.…”

Section: Discussionmentioning

confidence: 99%

A Novel Distal Hybrid Pneumatic/Cable‐Driven Continuum Joint with Variable Stiffness Capacity for Flexible Gastrointestinal Endoscopy

Luo

Song

Zhang

et al. 2023

Advanced Intelligent Systems

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The robot‐assisted flexible access surgery represented by the emerging robot‐assisted flexible endoscopy (FE) and natural orifice transluminal endoscopic surgery demands flexible and continuum manipulators instead of the rigid and straight instruments in the traditional minimally invasive surgery (MIS). These flexible manipulators are required to advance through the tortuous and narrow anatomic paths via natural orifices for dexterous diagnostic examination and therapeutic operations. Therefore, developing flexible endoscopic manipulators with the capacity of snake‐like movements for flexible access and variable stiffness regulation for operations to address these flexible access surgical difficulties is demanding but remains challenging. To address such challenges, herein, it is proposed that a novel distal continuum joint based on the hybrid pneumatic and cable‐driven approach achieves variable stiffness capacity, excellent bending characteristics in both flexible and rigid states, satisfactory motion consistency and shape‐locking ability during the rigid‐flexible transition, and relatively high loading capacity for flexible gastrointestinal endoscopic robots. Characterization experiments validate these performances, and phantom and ex vivo experiments have been performed to demonstrate the feasibility and effectiveness for FE. The presented method demonstrates an effective and practical approach to enabling continuum robots with both flexible access and tunable stiffness capacity and supports a convenient extension for MIS applications.

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“…Several works have been proposed to enhance the functionality of the magnetic microrobot through distinct shape embolization of magnetic bodies such as helices, [41] ribbons, [42] stent-shapes, [43] and other complex architectures. [44,45] However, the intricate fabrication processes associated with such a tiny device may have significantly dampened such functionalities.…”

Section: Introductionmentioning

confidence: 99%

An On‐Demand Microrobot with Building Block Design for Flow Manipulation

Loganathan

Hsieh

Shi

et al. 2022

Adv Materials Technologies

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The ability to precisely maneuver miniature objects in flow through a well‐controlled manner is envisaged to have an extensive impact in micro manipulation for profound medical and biological applications. In this work, the magnetic microrobots are fabricated by employing a distinct block‐to‐block approach in which the microrobotic structures are developed using several magnetic and nonmagnetic blocks. To demonstrate the on‐board control strategies of the microrobots, two distinct modes of motion are introduced and actuated with the aid of the developed in‐house electromagnetic system. To delve into the physics of microrobot locomotion, theoretical and numerical investigations are performed that further provide practical relevance for extensive applications with profound reliability. A mixing task is conducted to elucidate the enriched controllability of the microrobot in furnishing an on‐demand flow agitation function with high efficiency. Furthermore, the directions of such mixing are engineered using the proposed modes of motion which can unlock the possibilities to precisely control the directional inhomogeneities of the fluids encountered in diversely microfluidic systems. Aside from it, the multidimensional controllability of the microrobot motions exhibiting distinct flow behaviors is further demonstrated to precisely disperse the particles suspended in the fluid medium. Subsequently, such behaviors combined with the adaptive modes of microrobot motion can be potentially employed as one of the strategies to prevent the fouling problems encountered in several microfluidic applications. The presented work provides the feasible functions of the microrobots where they can play a pivotal role in dampening their functional limitations inherent in dynamic environment, and pave to emerge as fully autonomous microrobots for future engineering applications.

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Adaptive wireless millirobotic locomotion into distal vasculature

Cited by 67 publications

References 74 publications

3D printing of thermosets with diverse rheological and functional applicabilities

3D printing of thermosets with diverse rheological and functional applicabilities

A Novel Distal Hybrid Pneumatic/Cable‐Driven Continuum Joint with Variable Stiffness Capacity for Flexible Gastrointestinal Endoscopy

An On‐Demand Microrobot with Building Block Design for Flow Manipulation

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