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Dual-Mode Magnetic Continuum Robot for Targeted Drug Delivery

Wendu Zhang, Heng Wang, Shuangyi Wang, Yuanrui Huang

TL;DR

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 is presented, indicating strong potential for next-generation, site-specific therapies.

Abstract

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.

Dual-Mode Magnetic Continuum Robot for Targeted Drug Delivery

TL;DR

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 is presented, indicating strong potential for next-generation, site-specific therapies.

Abstract

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.

Paper Structure

This paper contains 9 sections, 7 equations, 3 figures.

Table of Contents

  1. INTRODUCTION
  2. System Design and Magnetic Actuation
  3. Simulation and Experimental Validation
  4. Deformation Ability Evaluation
  5. In-Phantom Intervention Experiment
  6. Discussion
  7. Deformation Result Reflection
  8. Drug-Release Process Reflection
  9. CONCLUSIONS

Figures (3)

  • Figure 1: (a) Prototype of the dual-mode MCR (b) Overview of the proposed magnetic actuation system (c) Actuation schematic for bending mode (d) Actuation schematic for torsional mode.
  • Figure 2: (a) Kinematic-prototype MCR (b) Record of curvature and torsional angle of the kinematic-prototype MCR (c) Capture of a series of recorded torsional angle (d) Capture of a series of recorded curvature.
  • Figure 3: (a) Overview of the experiment platform (b) Fabricated prototype of MCR (c) Key frame of navigation by using bending mode (d) Key frame of drug delivery by using torsional mode.