MIT Soft Active Material Lab
Medical Device: Ferromagnetic soft continuum robots!
Model： Intracranial Model with Aneurysms
Existing continuum robots are often limited to millimeter or centimeter scales due to miniaturization challenges inherent in conventional actuation mechanisms.Client inventions a submillimeter-scale, self-lubricating soft continuum robot with omnidirectional steering and navigating capabilities based on magnetic actuation, which are enabled by programming ferromagnetic domains in its soft body while growing hydrogel skin on its surface. How to demonstrate capability of navigating?
Trando provide a tortuous cerebrovascular phantom with multiple aneurysms to simulate complex and constrained environemnt for client. The model is fixed in acrylic box for anatomically right position.
The soft continuum robot first passed through the sharp corner with acute angulation (between t = 0 s and t = 5 s). The robot made another sharp turn after reaching the first aneurysm (t = 11 s) based on the magnetic steering capability to reach the second aneurysm (t = 15 s). Then, it made another sharp turn at the acute-angled corner beneath the second aneurysm (t = 18 s) to reach the third aneurysm (t = 25 s) and navigated further downstream (t = 36 s). Magnetic fields for actuation (20 to 80 mT) were generated by a cylindrical (diameter and height of 50 mm) permanent magnet at a distance (40 to 80 mm). The proximal end was pushed to advance the magnetically steered distal end of the robot during the navigation. The outer diameter of the demonstrated prototype was 600 m. Note that the continuum robot may look thicker than the actual size due to the magnifying effect of the round, thick-walled silicone vessel.