Greenidge, Nikita J;
Calmé, Benjamin;
Moldovan, Alexandru C;
Abaravicius, Bartas;
Martin, James W;
Marahrens, Nils;
Woolfrey, Jon;
... Valdastri, Pietro; + view all
(2025)
Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging.
Science Robotics
, 10
(100)
, Article eadq4198. 10.1126/scirobotics.adq4198.
Preview |
Text
adq4198_v4_author-accepted-combined-sympletic.pdf - Accepted Version Download (4MB) | Preview |
Abstract
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.
| Type: | Article |
|---|---|
| Title: | Harnessing the oloid shape in magnetically driven robots to enable high-resolution ultrasound imaging |
| Location: | United States |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1126/scirobotics.adq4198 |
| Publisher version: | https://doi.org/10.1126/scirobotics.adq4198 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Animals, Swine, Robotics, Equipment Design, Ultrasonography, Humans, Robotic Surgical Procedures, Magnetic Fields, Motion, Magnetics |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10209907 |
Archive Staff Only
 |
View Item |
