Soft Millirobot Capable of Switching Motion Modes on the Fly for Targeted Drug Delivery in the Oviduct.

Small-scale magnetic robots with fixed magnetizations have limited locomotion modes, restricting their applications in complex environments in vivo. Here we present a morphology-reconfigurable millirobot that can switch the locomotion modes locally by reprogramming its magnetizations during navigation, in response to distinct magnetic field patterns. By continuously switching its locomotion modes between the high-velocity rigid motion and high-adaptability soft actuation, the millirobot efficiently navigates in small lumens with intricate internal structures and complex surface topographies. As demonstrations, the millirobot performs multimodal locomotion including woodlouse-like rolling and flipping, sperm-like rotating, and snake-like gliding to negotiate different terrains, including the unrestricted channel and high platform, narrow channel, and solid-liquid interface, respectively. Finally, we demonstrate the drug delivery capability of the millirobot through the oviduct-mimicking phantom and ex vivo oviduct. The magnetization reprogramming strategy during navigation represents a promising approach for developing self-adaptive robots for performing complex tasks in vivo.

A single-tube-braided stent for various airway structures.

Background: Airway stent has been widely used in airway procedures. However, the metallic and silicone tubular stents are not customized designed for individual patients and cannot adapt to complicated obstruction structures. Other customized stents could not adapt to complex airway structures with easy and standardized manufacturing methods. Object: This study aimed to design a series of novel stents with different shapes which can adapt to various airway structures, such as the "Y" shape structure at the tracheal carina, and to propose a standardized fabrication method to manufacture these customized stents in the same way. Methods: We proposed a design strategy for the stents with different shapes and introduced a braiding method to prototype six types of single-tube-braided stents. Theoretical model was established to investigate the radial stiffness of the stents and deformation upon compression. We also characterized their mechanical properties by conducting compression tests and water tank tests. Finally, a series of benchtop experiments and ex vivo experiments were conducted to evaluate the functions of the stents. Results: The theoretical model predicted similar results to the experimental results, and the proposed stents could bear a compression force of 5.79N. The results of water tank tests showed the stent was still functioning even if suffering from continuous water pressure at body temperature for a period of 30 days. The phantoms and ex-vivo experiments demonstrated that the proposed stents adapt well to different airway structures. Conclusion: Our study offers a new perspective on the design of customized, adaptive, and easy-to-fabricate stents for airway stents which could meet the requirements of various airway illnesses.

A Soft Robotic Balloon Endoscope for Airway Procedures.

Soft robots can provide advantages for medical interventions given their low cost and their ability to change shape and safely apply forces to tissue. This article explores the potential for their use for endoscopically-guided balloon dilation procedures in the airways. A scalable robot design based on balloon catheter technology is proposed, which is composed of five balloons together with a tip-mounted camera and LED. Its design parameters are optimized with respect to the clinical requirements associated with balloon dilation procedures in the trachea and bronchi. Possessing a lumen to allow for respiration and powered by the pressure and vacuum sources found in a clinical procedure room, the robot is teleoperated through the airways using a game controller and real-time video from the tip-mounted camera. The robot design includes proximal and distal bracing balloons that expand radially to produce traction forces. The distal bracing balloon is also used to perform balloon dilation. Three actuation balloons, located between the bracing balloons, produce elongation and bending of the robot body to enable locomotion and turning. An analysis of the actuation balloons, which incorporate helical coils to prevent radial collapse, provides design formulas by relating geometric parameters to such performance criteria as maximum change in actuator length and maximum robot bending angle. Experimental evaluation of a prototype robot inside rigid plastic tubes and ex vivo porcine airways is used to demonstrate the potential of the approach.

In Vivo Molding of Airway Stents.

Like ready-to-wear clothing, medical devices come in a fixed set of sizes. While this may accommodate a large fraction of the patient population, others must either experience suboptimal results due to poor sizing or must do without the device. Although techniques have been proposed to fabricate patient-specific devices in advance of a procedure, this process is expensive and time consuming. An alternative solution that provides every patient with a tailored fit is to create devices that can be customized to the patient's anatomy as they are delivered. This paper reports an in vivo molding process in which a soft flexible photocurable stent is delivered into the trachea or bronchi over a UV-transparent balloon. The balloon is expanded such that the stent conforms to the varying cross-sectional shape of the airways. UV light is then delivered through the balloon curing the stent into its expanded conformal shape. The potential of this method is demonstrated using phantom, ex vivo and in vivo experiments. This approach can produce stents providing equivalent airway support to those made from standard materials while providing a customized fit.

Superelastic, Sensitive, and Low Hysteresis Flexible Strain Sensor Based on Wave-Patterned Liquid Metal for Human Activity Monitoring.

Flexible strain sensors have been widely used in wearable electronic devices for body physical parameter capturing. However, regardless of the stretchability of the sensing material, the resolution of small strain changes or the hysteresis between loading/unloading states has always limited the various applications of these sensors. In this paper, a microfluidic flexible strain sensor was achieved by introducing liquid metal eutectic gallium indium (EGaIn) embedded into a wave-shaped microchannel elastomeric matrix (300 µm width × 70 µm height). The microfluidic sensor can withstand a strain of up to 320%, and the hysteresis performance was also improved from 6.79 to 1.02% by the wave-patterned structure which can restrain the viscoelasticity of the elastomer effectively. Moreover, an enhanced wave-shaped strain sensor was fabricated by increasing the length of the microfluidic channel; it has high sensitivity (GF = 4.91) and resolution, and even as low as 0.09% strain change could be detected, which is capable of resolving microdeformation; besides, the enhanced wave-shaped strain sensor exhibits quick response time (t = 116 ms), long-term stability, and durability under periodic dynamic load. As an example of potential applications, the enhanced flexible sensor showed excellent mechanical compliance and was successfully applied as a conceptual wearable device for distinctively monitoring various kinds of human body and robot activities, such as the different states of the finger, neck, breathing chest, robot's joint, and so forth. The flexible wave-shaped strain sensor has great promising applications for wearable electronics, motion recognition, healthcare, and soft robotics.

A Novel Tendon-Driven Soft Actuator with Self-Pumping Property.

Soft actuators and robotics have been widely researched in recent years mainly due to their compliance to environments and safe interaction with humans. However, the need of tether and low energy efficiency of such actuators/robots has limited their practical applications. This article presents a novel tendon-driven soft actuator concept that has the property of self-pumping, called soft self-pumping actuator (SSPA) in this research. A SSPA is designed by assembling two soft pneumatic actuators (SPAs) face-to-face, whose air chambers are connected by two check valves. Actuation of the SSPA is achieved by tendons that allows precise and untethered control compared with traditional SPAs. The two chambers in the proposed actuators are precharged with air to a desired pressure to enlarge self-stiffness and to facilitate bending. When actuated, one chamber will be compressed and serve as a pump to inject its air into the other chamber, resulting in further bending of the actuator. The airflow involves energy transmission to help the intended actuation, thus improving energy efficiency. In experimental studies, differential chamber air pressure is found to reduce the force in initiating actuator bending. Experimental results have also shown that energy efficiency increase of up to 45% has been achieved compared with the same design but without air transmission. We believe that the proposed concept could lead to more novel designs of controllable and energy saving soft robots.

Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots.

The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots.

Novel Variable-Stiffness Robotic Fingers with Built-In Position Feedback.

Despite the increasing popularity of soft robotic research, the application of soft robots is hindered by their limited ability to change compliance and acquire force and position feedback. In this article, both the controllability of compliance and the acquisition of position feedback are achieved in soft robotic fingers in the novel design of a three-dimensional (3D)-printed multismart material substrate. The substrate is composed of shape memory polymer (SMP) and conductive elastomer thermoplastic polyurethane (TPU). The SMP material is utilized to modulate the finger stiffness through its elastic modulus change around glass transition temperature (Tg). The conductive TPU has two functions: one is to tune SMP temperature by producing Joule heat when electrical power is supplied and the other is to provide position feedback of the finger by utilizing the piezoresistive effect of the conductive TPU. Theoretical modeling of finger position feedback and stiffness modulation are conducted. The theoretical analysis has been experimentally validated by a prototype robotic finger built from the proposed concept.

Bioinspired Robotic Fingers Based on Pneumatic Actuator and 3D Printing of Smart Material.

In this article, we have proposed a novel robotic finger design principle aimed to address two challenges in soft pneumatic grippers-the controllability of the stiffness and the controllability of the bending position. The proposed finger design is composed of a 3D printed multimaterial substrate and a soft pneumatic actuator. The substrate has four polylactic acid (PLA) segments interlocked with three shape memory polymer (SMP) joints, inspired by bones and joints in human fingers. By controlling the thermal energy of an SMP joint, the stiffness of the joints is modulated due to the dramatic change in SMP elastic modulus around its glass transition temperature (Tg). When SMP joints are heated above Tg, they exhibit very small stiffness, allowing the finger to easily bend around the SMP joints if the attached soft actuator is actuated. When there is no force from the soft actuator, shape recovery stress in SMP contributes to the finger's shape restoration. Since each joint's rotation can be individually controlled, the position control of the finger is made possible. Experimental analysis has been conducted to show the finger's variable stiffness and the result is compared with the analytical values. It is found that the stiffness ratio can be 24.9 times for a joint at room temperature (20°C) and at an elevated temperature of 60°C when air pressure p of the soft actuator is turned off. Finally, a gripper composed of two fingers is fabricated for demonstration.