A highly flexible body controlled by external robotic magnetic arms
We are exploring the idea of using miniature magnetic tentacles to reach many areas of the body that are currently difficult for surgeons to access. Potential uses could be in lung tumour biopsies or cardiovascular surgery, where currently the risk of tissue perforations is very high at 17%. The tiny tentacles are few mm in diameter and have a very soft, highly flexible body made up of a series of tiny magnets, embedded along their length that can be controlled by external robotic magnetic arms. We can control the tentacle shape or stiffen the body and control the tip. We are still working on how to drive the device from the outside and trialling different options.
Pittiglio, G., Chandler, J. H., da Veiga, T., Koszowska, Z., Brockdorff, M., Lloyd, P., Barry, K. L., Harris, R. A., McLaughlan, J., Pompili, C., & Valdastri, P.
Nature Communications Engineering, 2(1), 50. 2023.
Independently Actuated Soft Magnetic Manipulators for Bimanual Operations in Confined Anatomical Cavities
Koszowska, Z., Brockdorff, M., da Veiga, T., Pittiglio, G., Lloyd, P., Khan-White, T., Harris, R. A., Moor, J. W., Chandler, J. H., & Valdastri, P< br> Advanced Intelligent Systems. 2023.
J. Davy, G. Pittiglio, T. da Veiga, J. H. Chandler, P. Valdastri,
Proceedings of the International Symposium on Medical Robotics, Atlanta, GA, USA, April 2023.
P. Lloyd, T. Thomas, V. Venkiteswaran, G. Pittiglio, J. H. Chandler, P. Valdastri, S. Misra, IEEE Robotics and Automation Letters, 2023, Vol. 8, No. 6, pp. 3262-3269.
T. da Veiga, G. Pittiglio, M. Brockdorff, J. H. Chandler, P. Valdastri, IEEE Robotics and Automation Letters, 2023, Vol. 8, No. 6, pp. 3422-3429.
Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots
K. Abolfathi, J. A. Rosales Medina, H. Khaksar, J. Chandler, K. McDonald-Maier, K. Ashkan, P. Valdastri, A. Kafash Hoshiar, IEEE Robotics and Automation Letters, 2023, in press, accepted 18/04/2023.
J. Davy, P. Lloyd, J. H. Chandler, P. Valdastri, IEEE Robotics and Automation Letters, 2023, in press, 2023, Vol. 8, No. 6, pp. 3470-3477.
Bacchetti A, Lloyd P, Taccola S, Fakhoury E, Cochran S, Harris RA, Valdastri P, Chandler JH. Frontiers in Robotics and AI. 2022.
Evolutionary Inverse Material Identification: Bespoke Characterization of Soft Materials Using a Metaheuristic Algorithm
M. Di Lecce, O. Onaizah, P. Lloyd, J. Chandler and P. Valdastri
,Frontiers In Robotics And AI 8, 2022.
Progress in Biomedical Engineering, 2020
IEEE Robotics and Automation Letters, 2020, Vol. 5, No. 3, pp. 3937-3944.