Bioinspired handheld time-share driven robot with expandable DoFs

Yunjiang Wang, Xinben Hu, Luhang Cui, Xuan Xiao, Keji Yang, Yongjian Zhu () and Haoran Jin ()
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Yunjiang Wang: Zhejiang University
Xinben Hu: Second Affiliated Hospital of Zhejiang University School of Medicine
Luhang Cui: Zhejiang University
Xuan Xiao: Zhejiang University
Keji Yang: Zhejiang University
Yongjian Zhu: Second Affiliated Hospital of Zhejiang University School of Medicine
Haoran Jin: Zhejiang University

Nature Communications, 2024, vol. 15, issue 1, 1-10

Abstract: Abstract Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as “nerves”, connect to motion modules, enabling the selection of the activated module. The robot contains a 202-gram motor base and a 0.8 cm diameter manipulator comprised of sequentially linked bending modules (BM). The manipulator can be tailored in length and integrated with various instruments in situ, facilitating non-invasive access and high-dexterous operation at remote surgical sites. The applicability was demonstrated in clinical scenarios, where a surgeon held the robot to conduct transluminal experiments on a human stomach model and an ex vivo porcine stomach. The time-share driven mechanism offers a pragmatic approach to build a multi-degree-of-freedom robot for broader applications.

Date: 2024
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DOI: 10.1038/s41467-024-44993-x

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