In nature, organisms such as the octopus exhibit remarkable adaptability by reconfiguring their bodies into contracting and extending segments. Translating this modularity into robotics, origami-inspired designs have proven effective in creating adaptable building blocks for modular robotic arms. The Kresling cylinder, a bistable cylindrical origami structure, exemplifies this approach by functioning as both a contracting and extending actuator. However, current actuation strategies in origami-inspired structures—such as pneumatic, mechanical, or stimuli-responsive methods—suffer from bulky actuators, slow speed, or inability to provide local actuation. Magnetically-actuated Kresling cylinders offer promising solutions for rapid and localized actuation. However, they typically rely on large external coils, limiting their use in restricted environments. To overcome this limitation, we have embedded coils directly into a modular Kresling cylinder, creating a standalone electromagnetically-actuated system. The finite element analysis was employed to understand the effect of the electromagnets' dimensions on effective contraction and extension, resulting in a weight-efficient actuator. Trends were uncovered for the design of flat, effective electromagnets for embedded electromagnetic actuation. Following these design trends, a prototype was successfully manufactured, demonstrating rapid contraction and extension in both horizontal and vertical orientation. The standalone Kresling actuator is particularly well-suited for use in dynamic, remote or restricted environments. The simple design of the manufactured prototype illustrates the potential for incorporating embodied actuation into functional soft robotic designs.

Percutaneous pancreatic core biopsy is conclusive but challenging due to large-diameter needles, while smaller-diameter needles used in aspiration methods suffer from buckling and clogging. Inspired by the ovipositor of parasitic wasps, which resists buckling through self-propulsion and prevents clogging via friction-based transport, research has led to the integration of these functionalities into multi-segment needle designs or tissue transport system designs. This study aimed to combine these wasp-inspired functionalities into a single biopsy needle by changing the interconnection of the needle segments. The resulting biopsy needle features six parallel needle segments interconnected by a ring passing through slots along the length of the needle segments, enabling a wasp-inspired reciprocating motion. Actuation employs a cam and follower mechanism for controlled translation of the segments. The needle prototype, constructed from nitinol rods and stainless steel rings, measures 3 mm in outer diameter and 1 mm in inner diameter. Testing in gelatin phantoms demonstrated efficient gelatin core transport (up to 69.9% ± 9.1% transport efficiency) and self-propulsion (0.842 ± 0.042 slip ratio). Future iterations should aim to reduce the outer diameter while maintaining tissue yield. The design offers a promising new avenue for wasp-inspired medical tools, potentially enhancing early pancreatic cancer detection, thus reducing healthcare costs and patient complications.

Human fingers exhibit remarkable dexterity and adaptability through a combination of structures with varying stiffness levels, ranging from soft tissues (low stiffness) to tendons and cartilage (medium stiffness) to bones (high stiffness). This paper focuses on the development of a robotic finger that emulates these multi-stiffness characteristics. Specifically, we propose utilizing a lattice configuration, parameterized by voxel size and unit cell geometry, to achieve fine-tuned stiffness properties with high precision. A key advantage of this approach is its compatibility with single-process 3D printing, which eliminates the need for manual assembly of components with varying stiffness. Using this method, we present a novel, human-like robotic finger and a soft gripper. The gripper is integrated with a rigid manipulator and demonstrated in pick-and-place tasks, showcasing its effectiveness.

Engineers frequently aim to streamline environmental factors to facilitate the effective operation of robots. However, in nature, environmental considerations play a crucial role in shaping the embodiment of organisms. To comply robots with the complexity of real-world environments, embedding similar intelligence is key. In the field of soft robotics, various approaches offer insight into how intelligence can be integrated into artificial agents. A discussed topic is the intricate relationship between the brain and the body at the core of intelligence in robots. The goal of this article is, therefore, to unravel the strategies to implement different types of intelligence currently adopted in soft robots. A classification is made by making a distinction between agents that adapt to their environment by 1) their adaptive shape, 2) their adaptive functionality, and 3) their adaptive mechanics. Additionally, the perspectives on intelligence based on their computational approach are distinguished: centralized computation, decentralized computation, or embedded computation. It is concluded that a tailored robotic design approach attuned to specific environmental demands is needed. To unlock the full potential of soft robots, a fresh perspective on embodied intelligence is described, so-called mechanical intelligence, emphasizing the robot's responsiveness to changing external conditions of a real-world environment.

In percutaneous interventions, long and thin needles are used to reach deep target locations within the body. However, inserting a long and thin needle into the tissue can cause needle buckling, resulting in poor control of the needle’s trajectory and reduced targeting accuracy. In nature, the female parasitic wasp prevents the buckling of her long and slender ovipositor through a self-propelled motion. This study presents a stationary actuation system that can advance a wasp-inspired self-propelled needle consisting of seven 0.3-mm stainless steel rods with a theoretically unlimited insertion length. Based on the pencil lead advance mechanism in mechanical pencils that advances the pencil lead at a fixed increment when the pencil button is pushed, our actuation system advances the seven needle segments that comprise our needle by locking, advancing, releasing, and retracting the advance mechanisms. Experimental evaluation demonstrated that the actuation system successfully executes these actions, enabling step-by-step propulsion of the needle segments in gelatin-based tissue-mimicking phantoms. Moreover, the needle achieved mean motion efficiencies of 98 ± 2%, 68 ± 5%, and 57 ± 7% in air, 5-wt% gelatin, and 10-wt% gelatin, respectively, over 15 actuation cycles. This actuation system prototype, which is based on a mechanical pencil, is a step forward in developing self-propelled needles for targeting deep tissue structures.

Introduction: Orthopedic procedures often require drilling of tunnels through bone, for instance for the introduction of implants. The currently used rigid bone drills make it challenging to reach all target areas without damaging surrounding anatomy. Steerable bone drills are a promising solution as they enable access to larger volumes and the creation of curved tunnels thereby reducing the risk of harm to surrounding anatomical structures.

Method: This review provides a comprehensive overview of steerable bone drill designs identified in patent literature via the Espacenet database and in scientific literature accessed via the Scopus data base. A Boolean search combined with pre-set inclusion criteria returned 78 literature references describing a variety of drill designs.

Results: These drill designs could be categorized based on how the drilling trajectory was defined. Three methods to influence the drilling trajectory were identified: (1) the device (57% of the sources), (2) the environment (15% of the sources): the path is defined based on the tissue interaction forces with the surrounding bone or (3) the user defines the drilling trajectory (28% of the sources).

Discussion: The comprehensive overview of steerable drilling methods provides insights in the possibilities in drill design and may be used as a source of inspiration for the design of novel steerable drill designs.

Orthopedic surgery relies on bone drills to create tunnels for fracture fixation, bone fusion, or tendon repair. Traditional rigid and straight bone drills often pose challenges in accessing the desired entry points without risking damage to the surrounding anatomical structures, especially in minimal invasive procedures. In this study, we explore the use of hydraulic pressure waves in a flexible bone design to facilitate bone drilling. The HydroFlex Drill includes a handle for generating a hydraulic pressure wave in the flexible, fluid-filled shaft to transmit an impulse to the hammer tip, enabling bone drilling. We evaluated seven different hammer tip shapes to determine their impact on drilling efficiency. Subsequently, the most promising tip was implemented in the HydroFlex Drill. The HydroFlex Drill Validation demonstrated the drill's ability to successfully transfer the impulse generated in the handle to the hammer tip, with the shaft in different curves. This combined with the drill's ability to create indentations in bone phantom material is a promising first step towards the development of a flexible or even steerable bone drill. With ongoing research to enhance the drilling efficiency, the HydroFlex Drill opens possibilities for a range of orthopedic surgical procedures where minimally invasive drilling is essential.

Thrombus removal from the human body is facilitated through the utilization of aspiration catheters during minimally invasive thrombectomy procedures, where a pressure differential guides the targeted tissue through a flexible tubular medical instrument. In this paper, we present a patent analysis of thrombectomy aspiration catheter tip designs sourced from the EspaceNet database. Our findings reveal that enhancing the operability of aspiration catheters can be achieved by improving ease of positioning or suction capacity, whether through active or passive means. In terms of the former, both tip shape and flexibility play pivotal roles in maneuvering the distal end effectively. Variations in aspiration port characteristics, either distal-oriented or sideways-oriented, have the potential to enhance suction efficiency. In the active approach, aspects of positioning and suctioning are integrated into a single design, allowing for seamless transitions between configurations. While numerous design characteristics can coexist in a thrombectomy aspiration tip, a balance between flexibility and buckling resistance, as well as between maximizing aspiration lumen diameter and minimizing tip diameter, must be struck. This paper offers an insightful overview of existing thrombectomy aspiration tip designs, providing valuable inspiration for future innovations in this field.

Pedicle screws have long been established as the gold standard for spinal bone fixation. However, their fixation strength can be compromised in cases of low bone density, particularly in osteoporotic bone, due to the reliance on a micro-shape lock between the screw thread and the surrounding bone. To address this challenge, we propose augmenting conventional pedicles screws with a curved compliant anchor. This anchor integrates a curved super-elastic nitinol rod that is advanced through a canulated pedicle screw, forming a macro-shape lock within the vertebral body to aid the fixation strength. Both placement safety and fixation strength of this novel spinal bone anchor were validated on tissue phantoms (Sawbones). The radius of the curved compliant anchor’s path demonstrates high precision while exhibiting strong dependence on the bone density in which the anchor is placed. When the curved compliant anchor is combined with a conventional pedicle screw, the mean maximum pull-out force elevated to 290 N, marking a 14% enhancement in pull-out resistance compared to using pedicle screw alone. Further augmentation with multiple curved compliant anchors holds promise for even greater fixation. The application of a curved compliant spinal bone anchor offers a promising means of increasing the fixation strength of pedicles screws, which is especially relevant in challenging clinical scenarios such a patient suffering from osteoporosis.

This review explores the present knowledge of the unique properties of shark skin and possible applications of its functionalities, including drag reduction and swimming efficiency. Tooth-like denticles, with varied morphologies, sizes, and densities across the shark's body, significantly influence the flow and interaction of fluids. Examining dermal denticle morphology, this study unveils the functional properties of real shark skin, including mechanical properties such as stiffness, stress–strain characteristics, and denticle density's impact on tensile properties. The adaptive capabilities of the Mako shark scales, especially in high-speed swimming, are explored, emphasizing their passive flow-actuated dynamic micro-roughness. This research contains an overview of various studies on real shark skin, categorizing them into skin properties, morphology, and hydrodynamics. The paper extends exploration into industrial applications, detailing fabrication techniques and potential uses in vessels, aircraft, and water pipes for friction reduction. Three manufacturing approaches, bio-replicated forming, direct fabrication, and indirect manufacturing, are examined, with 3D printing and photoconfiguration technology emerging as promising alternatives. Investigations into the mechanical properties of shark skin fabrics reveal the impact of denticle size on tensile strength, stress, and strain. Beyond drag reduction, the study highlights the shark skin's role in enhancing thrust and lift during locomotion. The paper identifies future research directions, emphasizing live shark testing and developing synthetic skin with the help of 3D printing incorporating the bristling effect.

Introduction: This study focuses on the quantification of and current guidelines on the hazards related to needle positioning in prostate cancer treatment: (1) access restrictions to the prostate gland by the pubic arch, so-called Pubic Arch Interference (PAI) and (2) needle positioning errors. Next, we propose solution strategies to mitigate these hazards. Methods: The literature search was executed in the Embase, Medline ALL, Web of Science Core Collection*, and Cochrane Central Register of Controlled Trials databases. Results: The literature search resulted in 50 included articles. PAI was reported in patients with various prostate volumes. The level of reported PAI varied between 0 and 22.3 mm, depending on the patient’s position and the measuring method. Low-Dose-Rate Brachytherapy induced the largest reported misplacement errors, especially in the cranio-caudal direction (up to 10 mm) and the largest displacement errors were reported for High-Dose-Rate Brachytherapy in the cranio-caudal direction (up to 47 mm), generally increasing over time. Conclusions: Current clinical guidelines related to prostate volume, needle positioning accuracy, and maximum allowable PAI are ambiguous, and compliance in the clinical setting differs between institutions. Solutions, such as steerable needles, assist in mitigating the hazards and potentially allow the physician to proceed with the procedure. This systematic review was performed in accordance with the PRISMA guidelines. The review was registered at Protocols.io (DOI: dx.doi.org/10.17504/protocols.io.6qpvr89eplmk/v1).

In the field of Additive Manufacturing, four-dimensional (4D) printing has emerged as a promising technique to fabricate smart structures capable of undergoing shape morphing in response to specific stimuli. Magnetic stimulation offers a safe, remote, and rapid actuation mechanism for magnetically responsive structures. This review provides a comprehensive overview of the various strategies and manufacturing approaches employed in the development of magnetically stimulated shape morphing 4D-printed structures, based on an extensive literature search. The review explores the use of magnetic stimulation either individually or in combination with other stimuli. While most of the literature focuses on single-stimulus responsive structures, a few examples of multistimuli responsive structures are also presented. We investigate the influence of the orientation of magnetic particles in smart material composites, which can be either random or programmed during or after printing. Finally, the similarities and differences among the different strategies and their impact on the resulting shapemorphing behavior are analyzed. This systematic overview functions as a guide for readers in selecting a manufacturing approach to achieve a specific magnetically actuated shape-morphing effect.

In percutaneous interventions, needles are used to reach target locations inside the body. However, when the needle is pushed through the tissue, forces arise at the needle tip and along the needle body, making the needle prone to buckling. Recently, needles that prevent buckling inspired by the ovipositor of female parasitic wasps have been developed. Building on these needle designs, this study proposes a manual actuation unit that allows the operator to drive the wasp-inspired needle through stationary tissue. The needle consists of six 0.3-mm spring steel wires, of which one is advanced while the others are retracted. The advancing needle segment has to overcome a cutting and friction force while the retracting ones experience a friction force in the opposite direction. The actuation unit moves the needle segments in the required sequence using a low-friction ball spline mechanism. The moving components of the needle have low inertia, and its connection to the actuation unit using a ball spline introduces a small friction force, generating a small push force on the needle that facilitates the needle’s propulsion into tissue while preventing needle buckling. Experimental testing evaluated the needle’s ability to move through stationary 15-wt% gelatin tissue phantoms for different actuation velocities. It was found that the needle moved through the tissue phantoms with mean slip ratios of 0.35, 0.31, and 0.29 for actuation velocities of π, 2π, and 3π rad/s, respectively. Furthermore, evaluation in 15-wt%, 10-wt%, and 5-wt% gelatin tissue phantoms showed that decreasing the gelatin concentration decreased the mean slip ratios from 0.35 to 0.19 and 0.18, respectively. The needle actuation system design is a step forward in developing a wasp-inspired needle for percutaneous procedures that prevents buckling.

Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot inspired by the ovipositor of parasitic wasps to navigate and inspect pipelines. The robot features a flexible locomotion system that adapts to different tube sizes and shapes through a mechanical inflation technique. The flexible locomotion system employs a reciprocating motion, in which groups of three sliders extend and retract in a cyclic fashion. In a proof-of-principle experiment, the robot locomotion efficiency demonstrated positive linear correlation (r = 0.6434) with the diameter ratio (ratio of robot diameter to tube diameter). The robot showcased a remarkable ability to traverse tubes of different sizes, shapes and payloads with an average of (70%) locomotion efficiency across all testing conditions, at varying diameter ratios (0.7 1.5). Furthermore, the mechanical inflation mechanism displayed substantial load-carrying capacity, producing considerable holding force of (13 N), equivalent to carrying a payload of (≈5.8 Kg) inclusive the robot weight. This soft robotic system shows promise for inspection and navigation within tubular confined spaces, particularly in scenarios requiring adaptability to different tube shapes, sizes, and load-carrying capacities. The design of this system serves as a foundation for a new class of pipeline inspection robots that exhibit versatility across various pipeline environments, potentially including biological systems.

Transperineal laser ablation is a minimally invasive thermo-ablative treatment for prostate cancer that requires the insertion of a needle for accurate optical fiber positioning. Needle insertion in soft tissues may cause tissue motion and deformation, resulting in tissue damage and needle positioning errors. In this study, we present a wasp-inspired self-propelled needle that uses pneumatic actuation to move forward with zero external push force, thus avoiding large tissue motion and deformation. The needle consists of six parallel 0.25-mm diameter Nitinol rods driven by a pneumatic actuation system. The pneumatic actuation system consists of Magnetic Resonance (MR) safe 3D-printed parts and off-the-shelf plastic screws. A self-propelled motion is achieved by advancing the needle segments one by one, followed by retracting them simultaneously. The advancing needle segment has to overcome a cutting and friction force, while the stationary needle segments experience a friction force in the opposite direction. The needle self-propels through the tissue when the friction force of the five stationary needle segments overcomes the sum of the friction and cutting forces of the advancing needle segment. We evaluated the prototype’s performance in 10-wt% gelatin phantoms and ex vivo porcine liver tissue inside a preclinical Magnetic Resonance Imaging (MRI) scanner in terms of the slip ratio of the needle with respect to the phantom or liver tissue. Our results demonstrated that the needle was able to self-propel through the phantom and liver tissue with slip ratios of 0.912–0.955 and 0.88, respectively. The prototype is a promising step toward the development of self-propelled needles for MRI-guided transperineal laser ablation as a method to treat prostate cancer.

The success rate of spinal fusion surgery is mainly determined by the fixation strength of the spinal bone anchors. This study explores the use of an L-shaped spinal bone anchor that is intended to establish a macro-shape lock with the posterior cortical layer of the vertebral body, thereby increasing the pull-out resistance of the anchor. The performance of this L-shaped anchor was evaluated in lumbar vertebra phantoms (L1-L5) across four distinct perpendicular orientations (lateral, medial, superior, and inferior). During the pull-out experiments, the pull-out force, and the displacement of the anchor with respect to the vertebra was measured which allowed the determination of the maximal pull-out force (mean: 123 N ± 25 N) and the initial pull-out force, the initial force required to start motion of the anchor (mean: 23 N ± 16 N). Notably, the maximum pull-out force was observed when the anchor engaged the cortical bone layer. The results demonstrate the potential benefits of utilising a spinal bone anchor featuring a macro-shape lock with the cortical bone layer to increase the pull-out force. Combining the macro shape-lock fixation method with the conventional pedicle screw shows the potential to significantly enhance the fixation strength of spinal bone anchors.

Metal additive manufacturing is a promising technology for the production of functional medical products, due to its high shape complexity and resolution, and ability to withstand sterilization temperatures. This study explores the possibility of designing a completely non-assembly steerable surgical instrument using Selective Laser Melting. Despite its advantages for medical devices, the rough surface quality of unfinished parts can be problematic for non-assembly designs, leading to increased friction and wear in rigid body mechanisms and tendon-actuated mechanisms. We investigated printing of rolling contact joints with crossed flexures as low-friction joints, adjusted for printing in titanium for the design of the instrument. Grid-based lattice structures were incorporated as miniature flexures, and we explored the influence of various grid sizes on the flexibility and bending stiffness of the lattices. Based on this exploration, we altered the rolling joint configuration from two crossed flexures to a single straight flexure for our design. The resulting steerable surgical instrument design is completely non-assembly, including its actuation, facilitates easy removal of support structures, and requires no surface finishing steps. It has a diameter of less than 20 mm, facilitates opening and closing of a grasper, and steering of the grasper by 20 degrees.

Suction grippers offer a distinct advantage in their ability to handle a wide range of items. However, attaching these grippers to irregular and rough surfaces presents an ongoing challenge. To address this obstacle, this study explores the integration of magnetic intelligence into a soft suction gripper design, enabling fast external magnetic actuation of the attachment process. Additionally, miniaturization options are enhanced by implementing a compliant deploying mechanism. The resulting design is the first-of-its-kind magnetically-actuated deployable suction gripper featuring a thin magnetic membrane (Ø 50 mm) composed of carbonyl iron particles embedded in a silicone matrix. This membrane is supported by a frame made of superelastic nitinol wires that facilitate deployment. During experiments, the proof-of-principle prototype demonstrates successful attachment on a diverse range of curved surfaces in both dry and wet environments. The gripper achieves attachment on curved surfaces with radii of 50-75 mm, exerting a maximum attachment force of 2.89 ± 0.54 N. The current gripper design achieves a folding percentage of 75%, enabling it to fit into a Ø 12.5 mm tube and access hard-to-reach areas while maintaining sufficient surface area for attachment forces. The proposed prototype serves as a foundational steppingstone for further research in the development of reliable and effective magnetically-actuated suction grippers across various configurations. By addressing the limitations of attachment to irregular surfaces and exploring possibilities for miniaturization and precise control, this study opens new avenues for the practical application of suction grippers in diverse industries and scenarios.

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace and reflect the diversity of human society to address these broad challenges effectively. In recent years, gender inclusivity has received increasing attention, but it still remains a distant goal. In addition, awareness is rising around other dimensions of diversity, including nationality, religion, and politics. Unfortunately, despite the efforts, empirical evidence shows that the field has still a long way to go before achieving a sufficient level of equality, diversity, and inclusion across these spectra. This study focuses on the soft robotics community?a growing and relatively recent subfield?and it outlines the present state of equality and diversity panorama in this discipline. The article argues that its high interdisciplinary and accessibility make it a particularly welcoming branch of robotics. We discuss the elements that make this subdiscipline an example for the broader robotic field. At the same time, we recognize that the field should still improve in several ways and become more inclusive and diverse. We propose concrete actions that we believe will contribute to achieving this goal, and provide metrics to monitor its evolution.

Minimally invasive endovascular procedures use catheters that are guided through blood vessels to perform interventions, resulting in an inevitable frictional interaction between the catheter and the vessel walls. While this friction enhances stability during the intervention, it poses a risk of damaging the inner layer of the blood vessel wall during navigation, leading to post-operative complications including infectious diseases and thrombus formation. To mitigate the risk of adverse complications, we propose a new concept of a variable-friction catheter capable of transitioning from low friction during navigation to high friction for increased stability while performing the intervention. This variable-friction catheter leverages ultrasonic lubrication to actively control the frictional forces experienced by the catheter during the procedure. In this paper, we demonstrate a proof-of-concept for a friction control module, a pivotal component of the proposed catheter design. Our experiments demonstrate that the prototype effectively reduce friction by up to 11% and 60%, on average, on soft and rigid surfaces, representing its potential performance on healthy and calcified tissue, respectively. This result underscores the feasibility of the design and its potential to improve the safety and efficacy of minimally invasive endovascular procedures.