Sangam: A Confluence of Knowledge Streams

Evolutionary design of magnetic soft continuum robots

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dc.creator Wang, Liu
dc.creator Zheng, Dongchang
dc.creator Harker, Pablo
dc.creator Patel, Aman B
dc.creator Guo, Chuan Fei
dc.creator Zhao, Xuanhe
dc.date 2022-01-27T14:45:20Z
dc.date 2022-01-27T14:45:20Z
dc.date 2021
dc.date 2022-01-27T14:32:48Z
dc.date.accessioned 2023-03-01T18:09:54Z
dc.date.available 2023-03-01T18:09:54Z
dc.identifier https://hdl.handle.net/1721.1/139767
dc.identifier Wang, Liu, Zheng, Dongchang, Harker, Pablo, Patel, Aman B, Guo, Chuan Fei et al. 2021. "Evolutionary design of magnetic soft continuum robots." Proceedings of the National Academy of Sciences of the United States of America, 118 (21).
dc.identifier.uri http://localhost:8080/xmlui/handle/CUHPOERS/278995
dc.description Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as low steerability and vessel access through complex geometry of vasculatures and imaging-related accumulation of radiation to both patients and operating surgeons. To address these limitations, magnetic soft continuum robots (MSCRs) in the form of magnetic field–controllable elastomeric fibers have recently demonstrated enhanced steerability under remotely applied magnetic fields. While the steerability of an MSCR largely relies on its workspace—the set of attainable points by its end effector—existing MSCRs based on embedding permanent magnets or uniformly dispersing magnetic particles in polymer matrices still cannot give optimal workspaces. The design and optimization of MSCRs have been challenging because of the lack of efficient tools. Here, we report a systematic set of model-based evolutionary design, fabrication, and experimental validation of an MSCR with a counterintuitive nonuniform distribution of magnetic particles to achieve an unprecedented workspace. The proposed MSCR design is enabled by integrating a theoretical model and the genetic algorithm. The current work not only achieves the optimal workspace for MSCRs but also provides a powerful tool for the efficient design and optimization of future magnetic soft robots and actuators.
dc.format application/pdf
dc.language en
dc.publisher Proceedings of the National Academy of Sciences
dc.relation 10.1073/PNAS.2021922118
dc.relation Proceedings of the National Academy of Sciences of the United States of America
dc.rights Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
dc.source PNAS
dc.title Evolutionary design of magnetic soft continuum robots
dc.type Article
dc.type http://purl.org/eprint/type/JournalArticle


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