Magnetic actuation bionic robotic gripper with bistable morphing structure

2019 ◽  
Vol 229 ◽  
pp. 111422 ◽  
Author(s):  
Zheng Zhang ◽  
Xianghao Li ◽  
Xiaochen Yu ◽  
Hao Chai ◽  
Yang Li ◽  
...  
2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Cheng Zhou ◽  
Youzhou Yang ◽  
Jiaxin Wang ◽  
Qingyang Wu ◽  
Zhuozhi Gu ◽  
...  

AbstractIn vivo bioprinting has recently emerged as a direct fabrication technique to create artificial tissues and medical devices on target sites within the body, enabling advanced clinical strategies. However, existing in vivo bioprinting methods are often limited to applications near the skin or require open surgery for printing on internal organs. Here, we report a ferromagnetic soft catheter robot (FSCR) system capable of in situ computer-controlled bioprinting in a minimally invasive manner based on magnetic actuation. The FSCR is designed by dispersing ferromagnetic particles in a fiber-reinforced polymer matrix. This design results in stable ink extrusion and allows for printing various materials with different rheological properties and functionalities. A superimposed magnetic field drives the FSCR to achieve digitally controlled printing with high accuracy. We demonstrate printing multiple patterns on planar surfaces, and considering the non-planar surface of natural organs, we then develop an in situ printing strategy for curved surfaces and demonstrate minimally invasive in vivo bioprinting of hydrogels in a rat model. Our catheter robot will permit intelligent and minimally invasive bio-fabrication.


2021 ◽  
Vol 13 (9) ◽  
pp. 11424-11432
Author(s):  
Shumin Liang ◽  
Yan Miao ◽  
Xiaoyan Zhu ◽  
Jiang Wei ◽  
Qing-Feng Zhan ◽  
...  
Keyword(s):  

Polymers ◽  
2021 ◽  
Vol 13 (8) ◽  
pp. 1321
Author(s):  
Cheng-Yun Peng ◽  
Chia-Hung Dylan Tsai

Droplet manipulation is important in the fields of engineering, biology, chemistry, and medicine. Many techniques, such as electrowetting and magnetic actuation, have been developed for droplet manipulation. However, the fabrication of the manipulation platform often takes a long time and requires well-trained skills. Here we proposed a novel method that can directly generate and manipulate droplets on a polymeric surface using a universal plasma jet. One of its greatest advantages is that the jet can tremendously reduce the time for the platform fabrication while it can still perform stable droplet manipulation with controllable droplet size and motion. There are two steps for the proposed method. First, the universal plasma jet is set in plasma mode for modifying the manipulation path for droplets. Second, the jet is switched to air-jet mode for droplet generation and manipulation. The jetted air separates and pushes droplets along the plasma-treated path for droplet generation and manipulation. According to the experimental results, the size of the droplet can be controlled by the treatment time in the first step, i.e., a shorter treatment time of plasma results in a smaller size of the droplet, and vice versa. The largest and the smallest sizes of the generated droplets in the results are about 6 µL and 0.1 µL, respectively. Infrared spectra of absorption on the PDMS surfaces with and without the plasma treatment are investigated by Fourier-transform infrared spectroscopy. Tests of generating and mixing two droplets on a PDMS surface are successfully achieved. The aging effect of plasma treatment for the proposed method is also discussed. The proposed method provides a simple, fast, and low-cost way to generate and manipulate droplets on a polymeric surface. The method is expected to be applied to droplet-based cell culture by manipulating droplets encapsulating living cells and towards wall-less scaffolds on a polymeric surface.


2019 ◽  
Vol 26 (6) ◽  
pp. 705-711
Author(s):  
Daisuke Taniguchi ◽  
Keitaro Matsumoto ◽  
Yoshihiro Kondo ◽  
Tomoshi Tsuchiya ◽  
Ikuo Yamamoto ◽  
...  

Objectives. Thoracic drainage is a common procedure to drain fluid, blood, or air from the pleural cavity. Some attempts to develop approaches to new thoracic drainage systems have been made; however, a simple tube is often currently used. The existing drain presupposes that it is placed correctly and that the tip does not require moving after insertion into the thoracic cavity. However, in some cases, the drain is not correctly placed and reinsertion of an additional drain is required, resulting in significant invasiveness to the patient. Therefore, a more effective drainage system is needed. This study aimed to develop and assess a new thoracic drain via a collaboration between medical and engineering personnel. Methods. We developed the concept of a controllable drain system using magnetic actuation. A dry laboratory trial and accompanying questionnaire assessment were performed by a group of thoracic and general surgeons. Objective mechanical measurements were obtained. Porcine experiments were also carried out. Results. In a dry laboratory trial, use of the controllable drain required significantly less time than that required by replacing the drain. The average satisfaction score of the new drainage system was 4.07 out of 5, indicating that most of the research participants were satisfied with the quality of the drain with a magnetic actuation. During the porcine experiment, the transfer of the tip of the drain was possible inside the thoracic cavity and abdominal cavity. Conclusion. This controllable thoracic drain could reduce the invasiveness for patients requiring thoracic or abdominal cavity drainage.


Author(s):  
X. Lachenal ◽  
P. M. Weaver ◽  
S. Daynes

Conventional shape-changing engineering structures use discrete parts articulated around a number of linkages. Each part carries the loads, and the articulations provide the degrees of freedom of the system, leading to heavy and complex mechanisms. Consequently, there has been increased interest in morphing structures over the past decade owing to their potential to combine the conflicting requirements of strength, flexibility and low mass. This article presents a novel type of morphing structure capable of large deformations, simply consisting of two pre-stressed flanges joined to introduce two stable configurations. The bistability is analysed through a simple analytical model, predicting the positions of the stable and unstable states for different design parameters and material properties. Good correlation is found between experimental results, finite-element modelling and predictions from the analytical model for one particular example. A wide range of design parameters and material properties is also analytically investigated, yielding a remarkable structure with zero stiffness along the twisting axis.


2015 ◽  
Vol 1718 ◽  
pp. 3-7
Author(s):  
Stephany Herrera-Posada ◽  
Barbara O. Calcagno ◽  
Aldo Acevedo

ABSTRACTLiquid crystalline elastomers (LCEs) are materials that reveal unusual mechanical, optical and thermal properties due to their molecular orientability characteristic of low molar mass liquid crystals while maintaining the mechanical elasticity distinctive of rubbers. As such, they are considered smart shape-changing responsive systems. In this work, we report on the preparation of magnetic sensitized nematic LCEs using iron oxide nanoparticles with loadings of up to 0.7 wt%. The resultant thermal and mechanical properties were characterized by differential scanning calorimetry, expansion/contraction experiments and extensional tests. The magnetic actuation ability was also evaluated for the neat elastomer and the composite with 0.5 wt% magnetic content, finding reversible contractions of up to 23% with the application of alternating magnetic fields (AMFs) of up to 48 kA/m at 300 kHz. Thus, we were able to demonstrate that the inclusion of magnetic nanoparticles yields LCEs with adjustable properties that can be tailored by changing the amount of particles embedded in the elastomeric matrix, which can be suitable for applications in actuation, sensing, or as smart substrates.


Author(s):  
Arzu Özbey ◽  
Mehrdad Karimzadehkhouei ◽  
Evrim Kurtoğlu ◽  
Ali Koşar

Magnetic actuation of ferrofluids with dynamic magnetic fields is one of the most promising research areas with its wide and different potential application areas such as biomedical and micropumping applications. Ferrofluid has the potential of opening up new possibilities. To have more understanding about various fields of engineering, more research should be conducted by considering both the experimental and modeling aspects. The most important parameters determining the flow property, flow rates and overall system efficiency are the quality and the topology of magnetic fields used in these systems. Therefore, the methods of dynamic magnetic field generation constitute a central problem to obtain desired performance. This study includes modeling and simulation of ferrofluid actuation with dynamic magnetic fields by using the COMSOL software and reports that ferrofluid actuation can be successfully used and the simulation results agree well with the experimental results.


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