A Fast Soft Continuum Catheter Robot Manufacturing Strategy Based on Heterogeneous Modular Magnetic Units

Area of Science:

• Biomedical Engineering
• Robotics
• Materials Science

Background:

• Soft continuum robots offer high adaptability for biomedical applications.
• Current fabrication methods for these robots are often slow and complex.
• There is a need for simpler, faster fabrication strategies for adaptable robotic systems.

Purpose of the Study:

• To develop a millimeter-scale magnetic-polymer-based modular continuum catheter robot (MMCCR).
• To demonstrate a fast and general modular fabrication strategy for MMCCRs.
• To showcase the robot's capability for multifarious bending and adaptability in confined spaces.

Main Methods:

• Fabrication of millimeter-scale magnetic-polymer units with preprogrammed magnetization directions.
• Assembly of modular units into a continuum catheter robot with discrete magnetic sections.
• Application of external magnetic fields to induce controlled bending and shape transformation.
• Deformation analysis and testing using a bronchial tree phantom.

Main Results:

• Successfully fabricated and assembled MMCCRs using a modular strategy.
• Demonstrated multifarious bending capabilities, including single curvature and S-shaped configurations.
• MMCCRs showed high adaptability to confined spaces and complex geometries, as validated in a bronchial tree phantom.
• The robot successfully navigated challenging channels requiring large bending angles.

Conclusions:

• The proposed MMCCR offers a fast and versatile solution for continuum robot fabrication.
• The modular design and magnetic actuation enable adaptable and precise control of robot deformation.
• This work advances the design and development of magnetic continuum robots for diverse biomedical applications.