CMMI-EPSRC: Magnetically Activated Vine Robots

This joint National Science Foundation-United Kingdom Research and Innovation (NSF-UKRI) Engineering and Physical Sciences Research Council (EPSRC) project will create magnetically activated and intelligently controlled vine (MAV) robots with new capabilities significantly beyond the state of the art. These new capabilities will allow MAV robots to perform tasks that are impossible with current medical robots, and enable the use of MAV robots in medical procedures such as deep enteroscopy in the small bowel, or surgical procedures in the stomach. The project uses external permanent magnets and robot-mounted magnetic mechanisms to achieve three specific research goals: 1) steering of a tip-mounted magnetic mechanism for precise navigation, 2) locking of MAV robot shape using multipoint control of magnets embedded in the robot skin, and 3) low-friction reversal of the robot tip path using magnetic and mechanical forces. Each of these objectives combine innovative actuation mechanisms with intelligent embodied control. In combination, these thrusts will allow the MAV robots to be guided through narrow, tightly curving spaces without damage to delicate surroundings; to fix the MAV robot in place in order to execute precise, repeatable maneuvers or to apply significant levels of force; and to execute multiple forward and backward movements. The major expected impact is to improve early diagnosis and surgical interventions, which will directly benefit patients in the US and UK. Current robotic systems are limited in their ability to deploy over long lengths via tortuous, narrow paths, particularly when the surrounding environment is fragile. Precise interaction between a tool at the tip of the robot and surrounding tissue poses an additional set of challenges, particularly when operating over long working distances. MAV robots can overcome many of the challenges faced by current robotic systems. A major goal of this project is to achieve friction-free extension and retraction over a large range of deployment lengths. The research team will investigate intelligently controlled tip steering and navigation via magnetic actuation of a new tip-mounted mechanism, as well as shape locking through the integration of magnetic material and sensors to enable tasks requiring force exertion at the tip. They will also develop combined fluidic-magnetic retraction methods to enable proper inverting of the vine robot at the tip along curvilinear pathways, therefore allowing the exact reversal of the deployment process. This research is grounded in the context of navigation in tortuous and convoluted pathways such as the small intestine and exploration of large hollow cavities like the stomach. A successful outcome will allow gastrointestinal endoscopy tasks that no current robot alone can address in a safe and feasible manner. This project is supported by the cross-directorate Foundational Research in Robotics program, jointly managed and funded by the Directorates for Engineering (ENG) and Computer and Information Science and Engineering (CISE). This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.