Science Robotics最新文献

{"title":"Human-scale navigation of magnetic microrobots in hepatic arteries.","authors":"Ning Li, Phillip Fei, Cyril Tous, Mahdi Rezaei Adariani, Marie-Lou Hautot, Inès Ouedraogo, Amina Hadjadj, Ivan P Dimov, Quan Zhang, Simon Lessard, Zeynab Nosrati, Courtney N Ng, Katayoun Saatchi, Urs O Häfeli, Charles Tremblay, Samuel Kadoury, An Tang, Sylvain Martel, Gilles Soulez","doi":"10.1126/scirobotics.adh8702","DOIUrl":"10.1126/scirobotics.adh8702","url":null,"abstract":"<p><p>Using external actuation sources to navigate untethered drug-eluting microrobots in the bloodstream offers great promise in improving the selectivity of drug delivery, especially in oncology, but the current field forces are difficult to maintain with enough strength inside the human body (>70-centimeter-diameter range) to achieve this operation. Here, we present an algorithm to predict the optimal patient position with respect to gravity during endovascular microrobot navigation. Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139736853","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dexterous helical magnetic robot for improved endovascular access.","authors":"R Dreyfus, Q Boehler, S Lyttle, P Gruber, J Lussi, C Chautems, S Gervasoni, J Berberat, D Seibold, N Ochsenbein-Kölble, M Reinehr, M Weisskopf, L Remonda, B J Nelson","doi":"10.1126/scirobotics.adh0298","DOIUrl":"10.1126/scirobotics.adh0298","url":null,"abstract":"<p><p>Treating vascular diseases in the brain requires access to the affected region inside the body. This is usually accomplished through a minimally invasive technique that involves the use of long, thin devices, such as wires and tubes, that are manually maneuvered by a clinician within the bloodstream. By pushing, pulling, and twisting, these devices are navigated through the tortuous pathways of the blood vessels. The outcome of the procedure heavily relies on the clinician's skill and the device's ability to navigate to the affected target region in the bloodstream, which is often inhibited by tortuous blood vessels. Sharp turns require high flexibility, but this flexibility inhibits translation of proximal insertion to distal tip advancement. We present a highly dexterous, magnetically steered continuum robot that overcomes pushability limitations through rotation. A helical protrusion on the device's surface engages with the vessel wall and translates rotation to forward motion at every point of contact. An articulating magnetic tip allows for active steerability, enabling navigation from the aortic arch to millimeter-sized arteries of the brain. The effectiveness of the magnetic continuum robot has been demonstrated through successful navigation in models of the human vasculature and in blood vessels of a live pig.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139736852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Human-scale navigation of magnetic microrobots in hepatic arteries","authors":"Ning Li, Phillip Fei, Cyril Tous, Mahdi Rezaei Adariani, Marie-Lou Hautot, Inès Ouedraogo, Amina Hadjadj, Ivan P. Dimov, Quan Zhang, Simon Lessard, Zeynab Nosrati, Courtney N. Ng, Katayoun Saatchi, Urs O. Häfeli, Charles Tremblay, Samuel Kadoury, An Tang, Sylvain Martel, Gilles Soulez","doi":"https://www.science.org/doi/10.1126/scirobotics.adh8702","DOIUrl":"https://doi.org/https://www.science.org/doi/10.1126/scirobotics.adh8702","url":null,"abstract":"Using external actuation sources to navigate untethered drug-eluting microrobots in the bloodstream offers great promise in improving the selectivity of drug delivery, especially in oncology, but the current field forces are difficult to maintain with enough strength inside the human body (&gt;70-centimeter-diameter range) to achieve this operation. Here, we present an algorithm to predict the optimal patient position with respect to gravity during endovascular microrobot navigation. Magnetic resonance navigation, using magnetic field gradients in clinical magnetic resonance imaging (MRI), is combined with the algorithm to improve the targeting efficiency of magnetic microrobots (MMRs). Using a dedicated microparticle injector, a high-precision MRI-compatible balloon inflation system, and a clinical MRI, MMRs were successfully steered into targeted lobes via the hepatic arteries of living pigs. The distribution ratio of the microrobots (roughly 2000 MMRs per pig) in the right liver lobe increased from 47.7 to 86.4% and increased in the left lobe from 52.2 to 84.1%. After passing through multiple vascular bifurcations, the number of MMRs reaching four different target liver lobes had a 1.7- to 2.6-fold increase in the navigation groups compared with the control group. Performing simulations on 19 patients with hepatocellular carcinoma (HCC) demonstrated that the proposed technique can meet the need for hepatic embolization in patients with HCC. Our technology offers selectable direction for actuator-based navigation of microrobots at the human scale.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-02-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140056270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"3D-printed digital pneumatic logic for the control of soft robotic actuators","authors":"S. Conrad,&nbsp;J. Teichmann,&nbsp;P. Auth,&nbsp;N. Knorr,&nbsp;K. Ulrich,&nbsp;D. Bellin,&nbsp;T. Speck,&nbsp;F. J. Tauber","doi":"10.1126/scirobotics.adh4060","DOIUrl":"10.1126/scirobotics.adh4060","url":null,"abstract":"<div >Soft robots are paving their way to catch up with the application range of metal-based machines and to occupy fields that are challenging for traditional machines. Pneumatic actuators play an important role in this development, allowing the construction of bioinspired motion systems. Pneumatic logic gates provide a powerful alternative for controlling pressure-activated soft robots, which are often controlled by metallic valves and electric circuits. Many existing approaches for fully compliant pneumatic control logic suffer from high manual effort and low pressure tolerance. In our work, we invented three-dimensional (3D) printable, pneumatic logic gates that perform Boolean operations and imitate electric circuits. Within 7 hours, a filament printer is able to produce a module that serves as an OR, AND, or NOT gate; the logic function is defined by the assigned input signals. The gate contains two alternately acting pneumatic valves, whose work principle is based on the interaction of pressurized chambers and a 3D-printed 1-millimeter tube inside. The gate design does not require any kind of support material for its hollow parts, which makes the modules ready to use directly after printing. Depending on the chosen material, the modules can operate on a pressure supply between 80 and more than 750 kilopascals. The capabilities of the invented gates were verified by implementing an electronics-free drink dispenser based on a pneumatic ring oscillator and a 1-bit memory. Their high compliance is demonstrated by driving a car over a fully flexible, 3D-printed robotic walker controlled by an integrated circuit.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh4060","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139652281","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Overcoming adversaries in multirobot navigation","authors":"Amos Matsiko","doi":"10.1126/scirobotics.ado2404","DOIUrl":"10.1126/scirobotics.ado2404","url":null,"abstract":"<div >A path-planning algorithm allows safe navigation of robot teams in cluttered environments while in the presence of adversaries.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139652282","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"What will robots think of us?","authors":"Robin R. Murphy","doi":"10.1126/scirobotics.adn6096","DOIUrl":"10.1126/scirobotics.adn6096","url":null,"abstract":"<div >Two recent science fiction novels humorously illustrate the importance of correct robot mental models.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139652283","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robot swarms meet soft matter physics","authors":"Daniel I. Goldman,&nbsp;D. Zeb Rocklin","doi":"10.1126/scirobotics.adn6035","DOIUrl":"10.1126/scirobotics.adn6035","url":null,"abstract":"<div >Principles of soft matter physics can be leveraged to develop swarms of active robots with unique properties.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adn6035","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547786","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robots can motivate children to practice piano","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.ado1003","DOIUrl":"10.1126/scirobotics.ado1003","url":null,"abstract":"<div >Children who practiced piano with a robot that initiated self-assessment showed increased motivation and improved performance.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots","authors":"Stefano Dafarra,&nbsp;Ugo Pattacini,&nbsp;Giulio Romualdi,&nbsp;Lorenzo Rapetti,&nbsp;Riccardo Grieco,&nbsp;Kourosh Darvish,&nbsp;Gianluca Milani,&nbsp;Enrico Valli,&nbsp;Ines Sorrentino,&nbsp;Paolo Maria Viceconte,&nbsp;Alessandro Scalzo,&nbsp;Silvio Traversaro,&nbsp;Carlotta Sartore,&nbsp;Mohamed Elobaid,&nbsp;Nuno Guedelha,&nbsp;Connor Herron,&nbsp;Alexander Leonessa,&nbsp;Francesco Draicchio,&nbsp;Giorgio Metta,&nbsp;Marco Maggiali,&nbsp;Daniele Pucci","doi":"10.1126/scirobotics.adh3834","DOIUrl":"10.1126/scirobotics.adh3834","url":null,"abstract":"<div >We present an avatar system designed to facilitate the embodiment of humanoid robots by human operators, validated through iCub3, a humanoid developed at the Istituto Italiano di Tecnologia. More precisely, the paper makes two contributions: First, we present the humanoid iCub3 as a robotic avatar that integrates the latest significant improvements after about 15 years of development of the iCub series. Second, we present a versatile avatar system enabling humans to embody humanoid robots encompassing aspects such as locomotion, manipulation, voice, and facial expressions with comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities. We validated the system by implementing several avatar architecture instances, each tailored to specific requirements. First, we evaluated the optimized architecture for verbal, nonverbal, and physical interactions with a remote recipient. This testing involved the operator in Genoa and the avatar in the Biennale di Venezia, Venice—about 290 kilometers away—thus allowing the operator to visit the Italian art exhibition remotely. Second, we evaluated the optimized architecture for recipient physical collaboration and public engagement on stage, live, at the We Make Future show, a prominent world digital innovation festival. In this instance, the operator was situated in Genoa while the avatar operated in Rimini—about 300 kilometers away—interacting with a recipient who entrusted the avatar with a payload to carry on stage before an audience of approximately 2000 spectators. Third, we present the architecture implemented by the iCub Team for the All Nippon Airways (ANA) Avatar XPrize competition.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh3834","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547783","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A self-organizing robotic aggregate using solid and liquid-like collective states","authors":"Baudouin Saintyves,&nbsp;Matthew Spenko,&nbsp;Heinrich M. Jaeger","doi":"10.1126/scirobotics.adh4130","DOIUrl":"10.1126/scirobotics.adh4130","url":null,"abstract":"<div >Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliance. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape-shifting in a decentralized manner. This, in turn, can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinates to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":null,"pages":null},"PeriodicalIF":25.0,"publicationDate":"2024-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adh4130","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139547779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}