Magnetic Ball Chain Robots for Endoluminal Interventions
Giovanni Pittiglio,Margherita Mencattelli,Pierre E. Dupont,Giovanni Pittiglio,Margherita Mencattelli,Pierre E. Dupont
This paper introduces a novel class of hyperredun-dant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical joints of these robots enable them to bend to very small radii of curvature. These robots can be used as steerable tips for endoluminal instruments. A kinemat...
