Scholarlink

<p>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 multi-stiffness 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 <i>X</i>, <i>Y</i>, and <i>Z</i> 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.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Engineering a multi-stiffness nested cooperative magnetic continuum robot based on low melting point alloy

  • 期刊论文

  • 发表日期：

    2025年7月17日

查看全文
  • Zezheng Qiao,
  • Zhizheng Gao,
  • Xuehao Feng,
  • Huibin Liu,
  • Zhixing Ge,
  • Wenguang Yang

摘要

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 multi-stiffness 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.