Independent and Hybrid Magnetic Manipulation for Full Body Controlled Soft Continuum Robots

Fully soft continuum magnetic (FSCMs) microrobots with highly deformable structures have emerged as a potential solution to robotically controlled endovascular interventions. The microrobot's structure is made of magneto-responsive material, which offers full body control under field instead limited tip deformation. shape for these enables steering in complex paths contact the environment. We studied fields generated using up two permanent magnets and combination an electromagnetic system. effect different parameters, such number magnets, position intensity direction field, on robot's has been experimentally investigated. A mathematical model predict deformation angle (TDA) was introduced verified (root mean square error (RMSE) 6.5). Ten characteristic shapes were identified based curvature robot. Based obtained data, proof-of-concept demo presented robots. accuracy robots continuous path all three strategies results show that proposed method effectively forming minimizes surrounding environment (the average distance centerline 1.24 mm). approach hold promises elevate interventions towards least invasive surgery.