Greenidge Nikita J, Calmé Benjamin, Moldovan Alexandru C, Abaravicius Bartas, Martin James W, Marahrens Nils, Woolfrey Jon, Scaglioni Bruno, Chathuranga Damith S, Mitra Srinjoy, Cochran Sandy, Valdastri Pietro
STORM Lab, University of Leeds, Leeds, UK.
University of Glasgow, Glasgow, UK.
Sci Robot. 2025 Mar 26;10(100):eadq4198. doi: 10.1126/scirobotics.adq4198.
Magnetic fields enable remote manipulation of objects and are ideal for medical applications because they pass through human tissue harmlessly. This capability is promising for surgical robots, allowing navigation deeper into the human anatomy and accessing organs beyond the reach of current technologies. However, magnetic manipulation is typically limited to a maximum two-degrees-of-freedom orientation, restricting complex motions, especially those including rolling around the main axis of the magnetic robot. To address this challenge, we introduce a robot design inspired by embodied intelligence and the unique geometry of developable rollers, leveraging the oloid shape. The oloid, with its axial asymmetry and sinusoidal motion, facilitates rolling when precisely controlled by an external magnetic field. We present a versatile closed-loop control model to ensure precise magnetic manipulation of an oloid-shaped robot. This capability was validated in endoluminal applications through the integration of a 28-megahertz micro-ultrasound array to perform virtual biopsies, noninvasive real-time histological imaging. Extensive in vitro and in vivo tests using a porcine model showed the robot's ability to execute sweeping motions, identify lesions, and generate detailed three-dimensional scans of gastrointestinal subsurface tissue. This research not only restores a critical movement capability to magnetic medical robots but also enables additional clinical applications deep within the human body.
磁场能够对物体进行远程操控，且由于其能无害地穿透人体组织，因此在医学应用中是理想的选择。这种能力对于手术机器人很有前景，可使其在人体解剖结构中进行更深层次的导航，并触及当前技术无法到达的器官。然而，磁操控通常最多限于两个自由度的定向，限制了复杂运动，尤其是那些包括围绕磁性机器人主轴滚动的运动。为应对这一挑战，我们引入了一种受具身智能和可展辊独特几何形状启发的机器人设计，利用椭球体形状。椭球体具有轴向不对称性和正弦运动，在外部磁场精确控制下便于滚动。我们提出了一种通用的闭环控制模型，以确保对椭球体形状的机器人进行精确的磁操控。通过集成一个28兆赫兹的微型超声阵列以进行虚拟活检、无创实时组织学成像，这种能力在内腔应用中得到了验证。使用猪模型进行的广泛体外和体内测试表明，该机器人能够执行清扫运动、识别病变，并生成胃肠道亚表面组织的详细三维扫描图像。这项研究不仅恢复了磁性医疗机器人的一项关键运动能力，还使人体内部深处的更多临床应用成为可能。
