Computational Predictive Model for Full Body Controlled Soft Continuum Magnetic Robots under Hybrid Actuation

Abstract

In recent years, medical microrobots have emerged as a non-invasive solution to many medical interventions [1, 2]. Soft continuum magnetic robots (SCMRs), a class of soft robots, were introduced as a promising method for endovascular intervention [1]. The small scale, adaptability, flexibility, and high controllability of SCMRs made them well suited for the clinical applications. The SCMRs originally introduced for endovascular intervention [1, 3], however, utilised rigid permanent magnets within their structure, increasing the risk of vascular trauma during deployment. Therefore, fully soft continuum magnetic robots (FSCMRs), made of magneto-responsive soft material, were introduced to improve their clinical implementation [4]. Imparting a lengthwise magnetisation profile into FSCMRs, full body shape forming is possible under application of homogeneous magnetic fields, improving conformation to anatomical structures. Shapes have been predicted for homogeneous electromagnet (EM) generated fields using computational models [5], and through permanent magnet (PM) actuation with mathematical models [6]. However, the whole-body modelling of FSCMRs under actuation via combinations of PM- and EM-generated fields has not been explored.