Magnetic Soft Catheters (MSCs) are capable of miniaturization due to the use of an external magnetic field for actuation. Through careful design of the magnetic elements within the MSC and the external magnetic field, the shape along the full length of the catheter can be precisely controlled. However, modeling of the magnetic-soft material is challenging due to the complex relationship between magnetic and elastic stresses within the material. Approaches based on traditional Finite Element Methods (FEM) lead to high computation time and rely on proprietary implementations. In this work, we showcase the use of our recently presented open-source simulation framework based on the Material Point Method (MPM) for the computational design of magnetic soft catheters to realize arbitrary shapes in 3D, and to facilitate follow-the-leader shape-forming insertion.

Magnetic soft robots are a promising option for contactless control in confined environments via external magnetic stimuli. Magneto-induced motions, i.e., magnetomotility, are driven by local deformation of a robot whereby particle alignments and alternating polar distributions are programmed into the body. Attempts to program magnetic anisotropy into the soft robots have been performed through direct laser printing (DLP), stereolithography (SLA) and fused filament fabrication (FDM) combined with multi-axial manipulation of electromagnets. Now, researchers have demonstrated facile preparation and actuation methods of magnetic soft robots without electromagnetic regulation. They constructed a three-dimensional helical soft robot through twisting of a two-dimensional polymer composite film.