ArticleAdvanced intelligent systems (Weinheim an der Bergstrasse, Germany)2021
Millimeter-Scale Soft Continuum Robots for Large-Angle and High-Precision Manipulation by Hybrid Actuation.
Article in Advanced intelligent systems (Weinheim an der Bergstrasse, Germany), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed.
- Magnetic medical microrobots with memory-capable genetic circuits.Science advances · 2026Article
- Magnetic-driven multifunctional optoelectronic catheter for in vivo chemical mapping and precisely guided-tumor therapy.Nature communications · 2026Article
- Soft Micromanipulation Robot for Real-Time Adaptive Multimodal Operation.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Bio-Inspired Stored Magnetic Energy Actuator with Transient Triggering and Programmable Logic.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- Advances in Magnetically Controlled Medical Robotics: A Review of Actuation Systems, Continuum Designs, and Clinical Prospects for Minimally Invasive Therapies.Micromachines · 2025Review
- Multi-axis robotic forceps with decoupled pneumatic actuation and force sensing for cochlear implantation.Nature communications · 2025Article
- Sub-millimeter fiberscopic robot with integrated maneuvering, imaging, and biomedical operation abilities.Nature communications · 2024Article
- Submillimeter fiber robots capable of decoupled macro-micro motion for endoluminal manipulation.Science advances · 2024Article
- The State-of-the-Art and Perspectives of Laser Ablation for Tumor Treatment.Cyborg and bionic systems (Washington, D.C.) · 2024Article
- Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought.Sensors (Basel, Switzerland) · 2023Article
- A Fast Soft Continuum Catheter Robot Manufacturing Strategy Based on Heterogeneous Modular Magnetic Units.Micromachines · 2023Article
- Advancements in materials, manufacturing, propulsion and localization: propelling soft robotics for medical applications.Frontiers in bioengineering and biotechnology · 2023Review
- A Versatile Continuum Gripping Robot with a Concealable Gripper.Cyborg and bionic systems (Washington, D.C.) · 2023Article
- Heat-Mitigated Design and Lorentz Force-Based Steering of an MRI-Driven Microcatheter toward Minimally Invasive Surgery.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2022Article
- A Survey on Design, Actuation, Modeling, and Control of Continuum Robot.Cyborg and bionic systems (Washington, D.C.) · 2022Review
- Enhancing Swimming Performance by Optimizing Structure of Helical Swimmers.Sensors (Basel, Switzerland) · 2021Article
Corrections and comments
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Developing small-scale soft continuum robots with large-angle steering capacity and high-precision manipulation offers broad opportunities in various biomedical settings. However, existing continuum robots reach the bottleneck in actuation on account of the contradiction among small size, compliance actuation, large tender range, high precision, and small dynamic error. Herein, a 3D-printed millimeter-scale soft continuum robot with an ultrathin hollow skeleton wall (300 μm) and a large inner-to-outer ratio (0.8) is reported. After coating a thin ferromagnetic elastomer layer (≈100-150 μm), the proposed soft continuum robot equipped with hybrid actuation (tendon- and magnetic-driven mode) achieves large-angle (up to 100°) steering and high-precision (low to 2 μm for static positioning) micromanipulation simultaneously. Specifically, the robot implements an ultralow dynamic tracking error of ≈10 μm, which is ≈30-fold improved than the state of art. Combined with a microneedle/knife or nasopharyngeal swab, the robot reveals the potential for versatile biomedical applications, such as drug injection on the target tissue, diseased tissue ablation, and COVID-19 nasopharyngeal sampling. The proposed millimeter-scale soft continuum robot presents remarkable advances in large-range and high-precise actuation, which provides a new method for miniature continuum robot design and finds broad applications in biomedical engineering.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.