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Kong T, Zheng Q, Sun J, Wang C, Liu H, Gao Z, Qiao Z, Yang W. Advances in Magnetically Controlled Medical Robotics: A Review of Actuation Systems, Continuum Designs, and Clinical Prospects for Minimally Invasive Therapies. MICROMACHINES 2025; 16:561. [PMID: 40428687 PMCID: PMC12114355 DOI: 10.3390/mi16050561] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/21/2025] [Revised: 05/03/2025] [Accepted: 05/05/2025] [Indexed: 05/29/2025]
Abstract
Magnetically controlled micro-robots hold immense potential for revolutionizing advanced medical applications, garnering significant research interest. This potential is underscored by the dual focus on magnetic control systems-both as driving forces and manipulation field sources-and magnetic continuums that have demonstrated clinical therapeutic efficacy. This comprehensive review delves into the actuation characteristics of permanent magnet systems, electromagnetic systems, and commercially available magnetic control systems. It also explores innovative designs of magnetic wires and tubes serving as continuum structures and investigates the variable stiffness properties of magnetic continua, informed by material and structural attributes. Furthermore, the discussion extends to their prospective roles and future applications within the medical realm. The objective is to elucidate emerging trends in the study of magnetic control systems and magnetic continua, marked by an expanding operational scope and enhanced precision in manipulation. By aligning these trends with clinical challenges and requirements, this review seeks to refine research trajectories, expedite practical implementations, and ultimately advocate for minimally invasive therapies. These therapies, leveraging magnetic control systems and magnetic continuums as cutting-edge treatment modalities, promise transformative impacts on the future of healthcare.
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Affiliation(s)
- Tiantian Kong
- Shandong City Service Institute, Yantai 264005, China; (Q.Z.); (J.S.); (C.W.)
| | - Qitong Zheng
- Shandong City Service Institute, Yantai 264005, China; (Q.Z.); (J.S.); (C.W.)
| | - Jiarong Sun
- Shandong City Service Institute, Yantai 264005, China; (Q.Z.); (J.S.); (C.W.)
| | - Chunxiao Wang
- Shandong City Service Institute, Yantai 264005, China; (Q.Z.); (J.S.); (C.W.)
| | - Huibin Liu
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (Z.G.); (Z.Q.); (W.Y.)
| | - Zhizheng Gao
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (Z.G.); (Z.Q.); (W.Y.)
| | - Zezheng Qiao
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (Z.G.); (Z.Q.); (W.Y.)
| | - Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (H.L.); (Z.G.); (Z.Q.); (W.Y.)
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Zhao Y, Yi L, Li Y, Zeng Z, Liu Z, Ren TL, Ruan Y, Liu F. A Laser Thermal-Curing Printing: Integrating Fabrication, Reparability, Reconfigurability, and Reprogrammability for Magnetic Soft Robots. ACS APPLIED MATERIALS & INTERFACES 2025; 17:24390-24401. [PMID: 40209277 DOI: 10.1021/acsami.4c22950] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 04/12/2025]
Abstract
Untethered magnetic soft robots can broaden the working scenarios of robots and have numerous potential applications in space exploration, industry, and medicine. However, existing magnetic soft robots face challenges such as limited reparability, difficulty expanding functions, and difficulty adjusting motion mode. Herein, an efficient and comprehensive laser thermal-curing printing method is proposed for magnetic soft robots. In this method, the directionality and photothermal effect of the infrared laser and thermal-curing property of thermosetting resin are utilized to achieve efficient fabrication, precise repair, and seamless reconstruction of thermosetting resin-based magnetic soft robots. Besides, the method enables reprogrammability of magnetic soft robots by exploiting photothermal-induced demagnetization. Further, the laser thermal-curing printing method is applied to repair a gyro robot for controlled movement; to reconstruct an underwater robot for salvaging cargo, a robot for repairing electrical circuit, and a wheel robot with three-dimensional structure; and to reprogram the motion of a six-leaf magnetic soft robot. These applications demonstrate that the laser thermal-curing printing method achieves the integration of fabrication, reparability, reconfigurability, and reprogrammability for soft robot, which is expected to drive a paradigm shift in soft robotics manufacturing and provide a groundbreaking strategy for fabricating magnetic soft robots with complex structures.
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Affiliation(s)
- Yilin Zhao
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Longju Yi
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Yunfan Li
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Ziran Zeng
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Zhe Liu
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei 430072, China
| | - Tian-Ling Ren
- Institute of Microelectronics and Beijing National Research Center for Information Science and Technology (BNRist), Tsinghua University, Beijing 100084, China
| | - Yong Ruan
- Department of Precision Instrument, Tsinghua University, Beijing 100084, China
| | - Feng Liu
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, Hubei 430072, China
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Sun Y, Sun B, Cui X, Li W, Zhang Y, He L, Nong S, Zhu Z, Wu J, Li D, Li X, Zhang S, Li X, Li M. Addressable and perceptible dynamic reprogram of ferromagnetic soft machines. Nat Commun 2025; 16:2267. [PMID: 40050263 PMCID: PMC11885537 DOI: 10.1038/s41467-025-57454-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/22/2024] [Accepted: 02/21/2025] [Indexed: 03/09/2025] Open
Abstract
Soft machines actuated by external magnetic fields have gained significant attention for their potential to interact with living organisms and complex environments. However, their adaptability and functionality are often limited by rigid magnetization during operation. In this work, we introduce dynamically reprogrammable magnetic soft machines with in situ reconfigurable magnetization profiles during operations, achieved through the synergy of various magnetic fields. A flexible resonant circuit is integrated into the machine body, enabling addressable and perceptible heating of specific regions via high-frequency fields of varying frequencies. The machine body is composed of microbeads made from a low-melting-point alloy and NdFeB microparticles. When heated, the alloy liquefies, allowing the rotation of NdFeB microparticles under a 40 mT pulsed programming field. Upon cooling, the new configuration is locked in place. This reprogramming process is equally effective for single or multiple machines, enabling versatile multi-pattern deformation of individual machines and cooperation of multiple ones. Furthermore, by incorporating addressable thermal actuation, we demonstrate in situ assembly of multiple robots. This work may enable a broad spectrum of magnetic soft machines with enhanced functionalities.
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Affiliation(s)
- Yuxuan Sun
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Boxi Sun
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Xiang Cui
- School of Computer Science and Technology, University of Science and Technology of China, 230026, Hefei, China
| | - Weihua Li
- School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW 2522, Australia
| | - Yue Zhang
- The First Affiliated Hospital of USTC, Division of Life Sciences and Medicine, University of Science and Technology of China, 230000, Hefei, Anhui, China
| | - Li He
- The First Affiliated Hospital of USTC, Division of Life Sciences and Medicine, University of Science and Technology of China, 230000, Hefei, Anhui, China
| | - Shutong Nong
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Zhengqing Zhu
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Jiyang Wu
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Dongxiao Li
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Xingxiang Li
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China
| | - Shiwu Zhang
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China.
| | - Xiangyang Li
- School of Computer Science and Technology, University of Science and Technology of China, 230026, Hefei, China.
| | - Mujun Li
- Institute of Humanoid Robots, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, 230026, Hefei, China.
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Zhang T, Yuan S, Xu C, Liu P, Chang HC, Ng SHC, Ren H, Yuan W. PneumaOCT: Pneumatic optical coherence tomography endoscopy for targeted distortion-free imaging in tortuous and narrow internal lumens. SCIENCE ADVANCES 2024; 10:eadp3145. [PMID: 39196931 PMCID: PMC11352845 DOI: 10.1126/sciadv.adp3145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/29/2024] [Accepted: 07/23/2024] [Indexed: 08/30/2024]
Abstract
The complex anatomy of internal luminal organs, like bronchioles, poses challenges for endoscopic optical coherence tomography (OCT). These challenges include limited steerability for targeted imaging and nonuniform rotation distortion (NURD) with proximal scanning. Using rotary micromotors for distal scanning could address NURD but raises concerns about electrical safety and costs. We present pneumaOCT, the first pneumatic OCT endoscope, comprising a steerable catheter with a soft pneumatic actuator and an imaging probe with a miniature pneumatic turbine. With a diameter of 2.8 mm, pneumaOCT allows for a bending angle of up to 237°, facilitating navigation through narrow turns. The pneumatic turbine enables adjustable imaging speeds from 51 to 446 revolutions per second. We demonstrate the pneumaOCT in vivo imaging of mouse esophagus and colon, as well as targeted and distortion-free imaging of peripheral bronchioles in a bronchial phantom and a porcine lung. This advancement substantially improves endoscopic OCT for navigational imaging in curved and narrow lumens.
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Affiliation(s)
- Tinghua Zhang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Sishen Yuan
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Chao Xu
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Peng Liu
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Hing-Chiu Chang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Sze Hang Calvin Ng
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Hongliang Ren
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
| | - Wu Yuan
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR, China
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