RUMI-Lab - Soft Robotics

Soft Robotics

Magnetically actuated soft robots may improve the treatment of disseminated intravascular coagulation. They also have applications in eye and brain surgery. Significant progress has been made in the development of soft robotic systems that steer catheters and guide wires. The fabrication and modeling of these new generation of robots have been studied in recent works. The soft robots are attached to the tip of the guidewire, and are magnetically steered by changing the direction and intensity of an external magnetic field. 2D and 3D steering of the devices are studied. My main research objectives is to make practical miniature soft robots for surgical interventions.

Journal Publications

1) P. Lloyd, A. K. Hoshiar, T. d. Veiga, A. Attanasio, N. Marahrens, J. H. Chandler and Pi. Valdastri, “A learnt approach for the design of magnetically actuated shape forming soft tentacle robots”, IEEE Robotics and Automation Letters (RA-L), 2020, 5, no. 3: 3937-3944, (IF 4.32) (Awarded the Best Paper by Society for Cardiac Robotics Navigation).

2) A. K. Hoshiar⁺, S. Jeon⁺, K. Kim⁺, S. Lee, E. Kim, S. Lee, J. Kim, B. J. Nelson, H. Cha., B. Yi, H. Choi, "A Magnetically Controlled Soft Microrobot Steering a Guidewire in a Three-Dimensional Phantom Vascular Network," Vol. 6, no. 1, pp. 54-68, 2019, (⁺Equal contributors, Front cover journal).

3) A. K. Hoshiar, S. Jeon, K. Kim, S. Lee, J.-y. Kim, and H. Choi, “Steering Algorithm for a Flexible Microrobot to Enhance Guidewire Control in a Coronary Angioplasty Application”, Micromachines, Vol. 9, no. 12, pp. 617, 2018., (Front cover journal).

4) A. K. Hoshiar⁺,S. Jeon⁺, S. Kim, S. Lee, E. Kim, S. Lee, K. Kim, J. Lee, J. Kim, H. Choi, “Improving guidewire-mediated steerability of a magnetically actuated flexible microrobot”, Micro and Nano Systems Letters, vol. 6, no. 1, p. 15, December 13 2018. (⁺Equal contributors).

Conference Publications

1) A. K. Hoshiar⁺, S. Jeon⁺, K. Kim⁺, S. Lee, J. Kim, B. J. Nelson, H. Cha., B. Yi, H. Choi, “Biomedical Applications of Magnetically Controlled Soft Microrobots”, 30 Years of Small-Scale Robotics from Nano- to Millimeter-Sized, International Conference on Robotics and Automation (ICRA) Workshop, Brisbane, QLD, Australia, May 25^th 2018 (+ Equal contributors).

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