ArticleScience advances2024
Submillimeter fiber robots capable of decoupled macro-micro motion for endoluminal manipulation.
Article in Science advances, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 7 papers.
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Who cites it
7 citing papers in PubMed.
- Design of an Adaptive Model for Intelligent Car Seats Based on Human Pose Recognition.Annals of the New York Academy of Sciences · 2026Article
- Cooperative integrated surgical robots for high-performance targeted therapies.Innovation (Cambridge (Mass.)) · 2026Review
- Interaction-aware dexterous robot for minimally invasive transcanal inner ear interventions.Nature communications · 2026Article
- Soft robotic devices for cardiovascular medicine.Nature reviews. Cardiology · 2026Review
- Micro Biomimetic Eyeball for Humanoid Robots: A Visual System with High-Density Functional Integration Based on an Origami Mechanism.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Magnetically controlled microrobotic system for programmable stiffness tuning and active steering of microcatheters.Nature communications · 2025Article
- Insect-inspired micro-optical antenna enables ultrasensitive multisensory perception.Science advances · 2025Article
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Authors and funding
14 authors.
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Abstract
Endoluminal and endocavitary intervention via natural orifices of the body is an emerging trend in medicine, further underpinning the future of early intervention and precision surgery. This motivates the development of small continuum robots to navigate freely in confined and tortuous environment. The trade-off between a large range of motion and high precision with concomitant actuation cross-talk poses a major challenge. Here, we present a submillimeter-scale fiber robot (~1 mm) capable of decoupled macro and micro manipulations for intervention and operation. The thin optical fibers, working both as mechanical tendons and light waveguides, can be pulled/pushed to actuate the macro tendon-driven continuum robot and transmit light to actuate the liquid crystal elastomer-based micro built-in light-driven parallel robot. The combination of the decoupled macro and micro motions can accomplish accurate cross-scale motion from several millimeters down to tens of micrometers. In vivo animal studies are performed to demonstrate its positioning accuracy of precise micro operations in endoluminal or endocavitary intervention.
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