Localisation for magnetically actuated robots is essential for their accurate control and delivery of functionality. With the advent of new magnetic actuation platforms based on multiple external permanent magnets for actuation of complex continuum robots, new localisation techniques that account for these additional sources of magnetic fields are needed. In this work, we introduce a […]
Soft, flexible robots, fabricated using magnetically-active elastomers, are capable of very large deformations, and are actuated at distance thus allowing for extremely small scale. This combination of properties is understandably appealing to the minimally invasive surgical community but, due to the soft materials and low actuating forces involved, one prominent challenge is the functionalization of […]
In this collaborative paper with Prof Simaan’s group at Vanderbilt University, we explore for the first time how to implement full-shape closed loop control of a magnetic tentacle robot using fiber Bragg grating sensors. We demonstrate that the proposed controller, running at approximately 300 Hz, is capable of shape tracking with a mean error of […]
In this work, we developed a simulation framework for magnetic soft robots using the Material Point Method (MPM). This framework can accurately model robot behaviour under external magnetic fields, including the complexities of material elasticity and magnetic wrench. The framework can accurately model the self-collision of robots and dynamic response under time-varying fields. We validate this […]
We are thrilled to announce that our work on magnetically guided colonoscopy has been featured in the March 2023 issue of Ingenia Magazine, published by the Royal Academy of Engineering. The innovative instrument developed by our research team at the STORM Laboratory, University of Leeds, uses intelligent and autonomous magnetic manipulation to make colonoscopies more […]
Creating custom patterns of magnetic nanoparticles on flexible substrates may enable new opportunities in early diagnosis and personalised treatment of life-threatening diseases. In this collaboration led by the Future Manufacturing Processes Research Group at the University of Leeds, we demonstrated for the first time that Aerosol Jet Printing can be leveraged to reliably print large-area, […]
In our recently published work, we explore the challenges and a potential solution for enabling autonomous intracorporeal Ultrasound (US) scanning during robotic surgery. Enabled by a novel kinematic sensor-fusion scheme, we demonstrate the autonomous navigation and probe reorientation along a phantom hepatic vessel structure. Check out our paper for in-depth results and future directions of […]
What happens if you place two large magnets at the end effector of two serial robots? How many independent degrees of freedom can be magnetically controlled in the central workspace? We have explored these and other research questions in our latest IEEE Transactions on Robotics paper that introduces the dual External Permanent Magnet (dEPM) platform. […]
Michael and Giovanni had the privilege and pleasure to present their work at the first ever Gordon Research Seminar (GRS) on Robotics last week. While Professor Valdastri presented a summary of the progress made by the Tentacles project at the Gordon Research Conference (GRC). Professor Valdastri summarized the event by saying “Cutting edge research shared […]
Flexible catheters are used in a wide variety of surgical interventions. In many cases a lack of dexterity and miniaturization along with excessive stiffness results in large regions of the anatomy being deemed inaccessible. Soft, magnetic snake-like robots have the potential to mitigate these issues. Currently, flexible magnetic catheters rely on interactive forces to “follow […]