Self-folding soft-robotic chains with reconfigurable shapes and functionalities

Hongri Gu (), Marino Möckli, Claas Ehmke, Minsoo Kim (), Matthias Wieland, Simon Moser, Clemens Bechinger, Quentin Boehler () and Bradley J. Nelson ()
Additional contact information
Hongri Gu: ETH Zurich
Marino Möckli: ETH Zurich
Claas Ehmke: ETH Zurich
Minsoo Kim: ETH Zurich
Matthias Wieland: ETH Zurich
Simon Moser: ETH Zurich
Clemens Bechinger: University of Konstanz
Quentin Boehler: ETH Zurich
Bradley J. Nelson: ETH Zurich

Nature Communications, 2023, vol. 14, issue 1, 1-12

Abstract: Abstract Magnetic continuum soft robots can actively steer their tip under an external magnetic field, enabling them to effectively navigate in complex in vivo environments and perform minimally invasive interventions. However, the geometries and functionalities of these robotic tools are limited by the inner diameter of the supporting catheter as well as the natural orifices and access ports of the human body. Here, we present a class of magnetic soft-robotic chains (MaSoChains) that can self-fold into large assemblies with stable configurations using a combination of elastic and magnetic energies. By pushing and pulling the MaSoChain relative to its catheter sheath, repeated assembly and disassembly with programmable shapes and functions are achieved. MaSoChains are compatible with state-of-the-art magnetic navigation technologies and provide many desirable features and functions that are difficult to realize through existing surgical tools. This strategy can be further customized and implemented for a wide spectrum of tools for minimally invasive interventions.

Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.nature.com/articles/s41467-023-36819-z Abstract (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:nat:natcom:v:14:y:2023:i:1:d:10.1038_s41467-023-36819-z

Ordering information: This journal article can be ordered from
https://www.nature.com/ncomms/

DOI: 10.1038/s41467-023-36819-z

Access Statistics for this article

Nature Communications is currently edited by Nathalie Le Bot, Enda Bergin and Fiona Gillespie

More articles in Nature Communications from Nature
Bibliographic data for series maintained by Sonal Shukla () and Springer Nature Abstracting and Indexing ().