机器人
计算机科学
执行机构
移动设备
机制(生物学)
移动机器人
模拟
形状记忆合金*
人工智能
嵌入式系统
物理
操作系统
算法
量子力学
作者
Yun-Jiang Wang,Xinben Hu,Luhang Cui,Xuan Xiao,Kaiqin Yang,Yongjian Zhu,Haoran Jin
标识
DOI:10.1038/s41467-024-44993-x
摘要
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.
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