A novel approach to actuate soft robotic catheter via magnetic actuation method

We addressed the challenges of navigating within the human chest using a soft magnetic catheter by enhancing the robot workspace and reducing the required magnetic field strength. By increasing the concentration of NdFeB nanoparticles, we successfully decreased the necessary magnetic field. Our proposed methods include utilizing a suitable magnet to achieve actuation inside the body, such as within the bronchi. Our design and simulation studies aimed at improving the robot's workspace and lowering the magnetic field strength needed for actuation. We achieved significant advancements, with the capability to generate the required magnetic field strength at 80% of the locations inside an average-sized body. We demonstrated successful navigation within transparent bronchi over an actuation distance of 110mm. This work highlights the potential for improved internal body navigation using our enhanced magnetic catheter system.