A Magnetic-Controlled Flexible Continuum Robot with Different Deformation Modes for Vascular Interventional Navigation Surgery

A magnetic-controlled flexible continuum robot (MFCR) is a kind of with small-size and flexibility that deforms under controlled magnetic fields, which makes MFCRs easy to fit in special sizes designs provides them the ability feasibly arrive at desired area through certain blood vessel bifurcation. The drive method suitable for miniaturization soft robots but shows limitations realizing high flexibility. To achieve flexibility, this work, deformation schemes are proposed, simulated, experimentally validated. proposed MFCR includes steering part made silicone elastomer uniformly dispersed NdFeB powder has specific magnetization direction. With actuation different three modes (C-shape, J-shape, S-shape) By using potential energy model combined elastic energy, quasi-static built. Through various simulations experiments, we analyzed predicted modes. results from experiments demonstrate accuracy model. indicate good control precision performance applications robot-assisted minimally invasive surgery.