Publikation:

Self-folding soft-robotic chains with reconfigurable shapes and functionalities

Lade...
Vorschaubild

Dateien

Gu_2-gq9xvzt997p76.pdf
Gu_2-gq9xvzt997p76.pdfGröße: 3.37 MBDownloads: 39

Datum

2023

Autor:innen

Möckli, Marino
Ehmke, Claas
Kim, Minsoo
Wieland, Matthias
Moser, Simon
Boehler, Quentin
Nelson, Bradley J.

Herausgeber:innen

Kontakt

ISSN der Zeitschrift

Electronic ISSN

ISBN

Bibliografische Daten

Verlag

Schriftenreihe

Auflagebezeichnung

ArXiv-ID

Internationale Patentnummer

Link zur Lizenz

Angaben zur Forschungsförderung

Projekt

Open Access-Veröffentlichung
Open Access Gold
Core Facility der Universität Konstanz

Gesperrt bis

Titel in einer weiteren Sprache

Publikationstyp
Zeitschriftenartikel
Publikationsstatus
Published

Erschienen in

Nature Communications. Springer. 2023, 14(1), 1263. eISSN 2041-1723. Available under: doi: 10.1038/s41467-023-36819-z

Zusammenfassung

Magnetic continuum soft robots can actively steer their tip under an external magnetic field, enabling them to effectively navigate in complex in vivo environments and perform minimally invasive interventions. However, the geometries and functionalities of these robotic tools are limited by the inner diameter of the supporting catheter as well as the natural orifices and access ports of the human body. Here, we present a class of magnetic soft-robotic chains (MaSoChains) that can self-fold into large assemblies with stable configurations using a combination of elastic and magnetic energies. By pushing and pulling the MaSoChain relative to its catheter sheath, repeated assembly and disassembly with programmable shapes and functions are achieved. MaSoChains are compatible with state-of-the-art magnetic navigation technologies and provide many desirable features and functions that are difficult to realize through existing surgical tools. This strategy can be further customized and implemented for a wide spectrum of tools for minimally invasive interventions.

Zusammenfassung in einer weiteren Sprache

Fachgebiet (DDC)
530 Physik

Schlagwörter

Konferenz

Rezension
undefined / . - undefined, undefined

Forschungsvorhaben

Organisationseinheiten

Zeitschriftenheft

Zugehörige Datensätze in KOPS

Zitieren

ISO 690GU, Hongri, Marino MÖCKLI, Claas EHMKE, Minsoo KIM, Matthias WIELAND, Simon MOSER, Clemens BECHINGER, Quentin BOEHLER, Bradley J. NELSON, 2023. Self-folding soft-robotic chains with reconfigurable shapes and functionalities. In: Nature Communications. Springer. 2023, 14(1), 1263. eISSN 2041-1723. Available under: doi: 10.1038/s41467-023-36819-z
BibTex
@article{Gu2023-03-07Selff-67071,
  year={2023},
  doi={10.1038/s41467-023-36819-z},
  title={Self-folding soft-robotic chains with reconfigurable shapes and functionalities},
  number={1},
  volume={14},
  journal={Nature Communications},
  author={Gu, Hongri and Möckli, Marino and Ehmke, Claas and Kim, Minsoo and Wieland, Matthias and Moser, Simon and Bechinger, Clemens and Boehler, Quentin and Nelson, Bradley J.},
  note={Article Number: 1263}
}
RDF
<rdf:RDF
    xmlns:dcterms="http://purl.org/dc/terms/"
    xmlns:dc="http://purl.org/dc/elements/1.1/"
    xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
    xmlns:bibo="http://purl.org/ontology/bibo/"
    xmlns:dspace="http://digital-repositories.org/ontologies/dspace/0.1.0#"
    xmlns:foaf="http://xmlns.com/foaf/0.1/"
    xmlns:void="http://rdfs.org/ns/void#"
    xmlns:xsd="http://www.w3.org/2001/XMLSchema#" > 
  <rdf:Description rdf:about="https://kops.uni-konstanz.de/server/rdf/resource/123456789/67071">
    <dc:creator>Kim, Minsoo</dc:creator>
    <dspace:isPartOfCollection rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/41"/>
    <dcterms:abstract>Magnetic continuum soft robots can actively steer their tip under an external magnetic field, enabling them to effectively navigate in complex in vivo environments and perform minimally invasive interventions. However, the geometries and functionalities of these robotic tools are limited by the inner diameter of the supporting catheter as well as the natural orifices and access ports of the human body. Here, we present a class of magnetic soft-robotic chains (MaSoChains) that can self-fold into large assemblies with stable configurations using a combination of elastic and magnetic energies. By pushing and pulling the MaSoChain relative to its catheter sheath, repeated assembly and disassembly with programmable shapes and functions are achieved. MaSoChains are compatible with state-of-the-art magnetic navigation technologies and provide many desirable features and functions that are difficult to realize through existing surgical tools. This strategy can be further customized and implemented for a wide spectrum of tools for minimally invasive interventions.</dcterms:abstract>
    <dc:contributor>Wieland, Matthias</dc:contributor>
    <dc:contributor>Nelson, Bradley J.</dc:contributor>
    <dc:contributor>Bechinger, Clemens</dc:contributor>
    <dcterms:rights rdf:resource="http://creativecommons.org/licenses/by/4.0/"/>
    <dc:creator>Bechinger, Clemens</dc:creator>
    <bibo:uri rdf:resource="https://kops.uni-konstanz.de/handle/123456789/67071"/>
    <dcterms:issued>2023-03-07</dcterms:issued>
    <void:sparqlEndpoint rdf:resource="http://localhost/fuseki/dspace/sparql"/>
    <dspace:hasBitstream rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/67071/1/Gu_2-gq9xvzt997p76.pdf"/>
    <dcterms:hasPart rdf:resource="https://kops.uni-konstanz.de/bitstream/123456789/67071/1/Gu_2-gq9xvzt997p76.pdf"/>
    <dc:contributor>Ehmke, Claas</dc:contributor>
    <dc:creator>Ehmke, Claas</dc:creator>
    <dc:contributor>Möckli, Marino</dc:contributor>
    <dc:creator>Moser, Simon</dc:creator>
    <dc:creator>Nelson, Bradley J.</dc:creator>
    <dc:contributor>Gu, Hongri</dc:contributor>
    <dc:contributor>Boehler, Quentin</dc:contributor>
    <dcterms:title>Self-folding soft-robotic chains with reconfigurable shapes and functionalities</dcterms:title>
    <dc:contributor>Kim, Minsoo</dc:contributor>
    <dc:creator>Boehler, Quentin</dc:creator>
    <dcterms:available rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-06-06T14:52:48Z</dcterms:available>
    <dc:creator>Möckli, Marino</dc:creator>
    <dc:creator>Gu, Hongri</dc:creator>
    <dc:rights>Attribution 4.0 International</dc:rights>
    <dc:creator>Wieland, Matthias</dc:creator>
    <dc:language>eng</dc:language>
    <foaf:homepage rdf:resource="http://localhost:8080/"/>
    <dc:date rdf:datatype="http://www.w3.org/2001/XMLSchema#dateTime">2023-06-06T14:52:48Z</dc:date>
    <dcterms:isPartOf rdf:resource="https://kops.uni-konstanz.de/server/rdf/resource/123456789/41"/>
    <dc:contributor>Moser, Simon</dc:contributor>
  </rdf:Description>
</rdf:RDF>

Interner Vermerk

xmlui.Submission.submit.DescribeStep.inputForms.label.kops_note_fromSubmitter

Kontakt
URL der Originalveröffentl.

Prüfdatum der URL

Prüfungsdatum der Dissertation

Finanzierungsart

Kommentar zur Publikation

Allianzlizenz
Corresponding Authors der Uni Konstanz vorhanden
Internationale Co-Autor:innen
Universitätsbibliographie
Ja
Begutachtet
Ja
Diese Publikation teilen