LMPA-Based Magnetically Actuated Continuum Robots with Real-Time Reprogramming Capability for Minimally Invasive Biomedical Applications

Abstract

Magnetic continuum robots (MCRs) hold significant promise for minimally invasive procedures due to their simple design and ease of miniaturization. However, the current deformation capabilities of MCRs are constrained by fixed magnetization configurations, leading to potential collisions with surrounding environments and limited access to hard-to-reach areas. In this study, we introduce a reprogrammable magnetic continuum robot (RMCR) driven by a proximal programmable unit (PPU). The RMCR can be selectively reprogrammed in real time using the melting and solidification of a low-melting-point alloy (LMPA). We conducted an in-depth investigation of the kinematic properties of the RMCR and the thermal characteristics of the PPU through modeling, numerical simulations, and experimental validation. The results show that the measured deflection angle of the RMCR and the complete phase transition temperature of the LMPA align closely with the simulation predictions. Additionally, by strategically embedding shape memory alloy clips on the distal drive unit of the RMCR, we successfully demonstrated obstacle capture and targeted drug delivery within a vascular model.