Bioinspired handheld time-share driven robot with expandable DoFs.

Journal: Nature communications
Published Date: Jan 26, 2024

Abstract

Handheld robots offer accessible solutions with a short learning curve to enhance operator capabilities. However, their controllable degree-of-freedoms are limited due to scarce space for actuators. Inspired by muscle movements stimulated by nerves, we report a handheld time-share driven robot. It comprises several motion modules, all powered by a single motor. Shape memory alloy (SMA) wires, acting as "nerves", connect to motion modules, enabling the selection of the activated module. The robot contains a 202-gram motor base and a 0.8 cm diameter manipulator comprised of sequentially linked bending modules (BM). The manipulator can be tailored in length and integrated with various instruments in situ, facilitating non-invasive access and high-dexterous operation at remote surgical sites. The applicability was demonstrated in clinical scenarios, where a surgeon held the robot to conduct transluminal experiments on a human stomach model and an ex vivo porcine stomach. The time-share driven mechanism offers a pragmatic approach to build a multi-degree-of-freedom robot for broader applications.

Authors

  • Yunjiang Wang
    Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.
  • Xinben Hu
    Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China.
  • Luhang Cui
    Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.
  • Xuan Xiao
    Computer Department, Jingdezhen Ceramic Institute, Jingdezhen 333046, China.
  • Keji Yang
    Key Laboratory of Fluid Power and Mechatronic Systems, Department of Mechanical Engineering, Zhejiang University, 310058, Hangzhou, China.
  • Yongjian Zhu
    Department of Neurosurgery, Second Affiliated Hospital of Zhejiang University School of Medicine, 310009, Hangzhou, China. neurosurgery@zju.edu.cn.
  • Haoran Jin

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