Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots.

ABSTRACT: Soft continuum manipulators have the potential to replace traditional surgical catheters; offering greater dexterity with access to previously unfeasible locations for a wide range of interventions including neurological and cardiovascular. Magnetically actuated catheters are of particular interest due to their potential for miniaturization and remote control. Challenges around the operation of these catheters exist however, and one of these occurs when the angle between the actuating field and the local magnetization vector of the catheter exceeds 90°. In this arrangement, deformation generated by the resultant magnetic moment acts to increase magnetic torque, leading to potential instability. This phenomenon can cause unpredictable responses to actuation, particularly for soft, flexible

SUBMITTER: Lloyd P 

PROVIDER: S-EPMC8297468 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature