2025/10/02 by Wendu Zhang, Heng Wang, Zhang, Wendu +5
Engineering · Physics and Astronomy · #Characterization and Applications of Magnetic Nanoparticles #Electrohydrodynamics and Fluid Dynamics #FOS: Computer and information sciences #FOS: Electrical engineering #Micro and Nano Robotics #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2510.01761
openalex publication_date 2025/10/02 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Magnetic continuum robots (MCRs) enable minimally invasive navigation through tortuous anatomical channels, yet axially magnetized designs have largely been limited to bending-only motion. To expand deformation capabilities, this paper presents a simple assembly that embeds permanent magnets radially within the catheter wall, allowing a single externally steered permanent magnet to independently induce either bending or torsion. A physics-based formulation together with finite-element analysis establishes the actuation principles, and benchtop experiments validate decoupled mode control under practical fields. Building on this, a dual-layer blockage mechanism consisting of outer grooves and inner plates leverages torsional shear to achieve on-demand drug release. Finally, an in-phantom intervention experiment demonstrates end-to-end operation: lumen following by bending for target approach, followed by twist-activated release at the site. The resulting compact, cable-free platform combines versatile deformation with precise payload delivery, indicating strong potential for next-generation, site-specific therapies.