Novel Concentric Magnetic Continuum Robot with Multiple Stiffness Modes for Potential Delivery of Nanomedicine

摘要

The utilisation of miniature robots has become essential in the domain of minimally invasive surgery and long-distance delivery of nanomedicine. Among these, the miniature magnetic continuum robot (MCR) stands out because of its simple structure and dexterity, which allow it to penetrate small cavities, transport specialised tools such as a laser, and deliver medications to support surgical treatment. Nevertheless, because of their soft bodies with a single stiffness, conventional MCRs have limited controllability when navigating through intricate cavities. To address this limitation, we propose a novel concentric magnetic continuum robot (C-MCR) comprising a concentric magnetic catheter with a guidewire having varying stiffness. The C-MCR allows substantial curvature bending owing to its difference in stiffness, and its detachable nature allows it to have four working modes to adapt to specific application requirements with improved stiffness controllability. Experiments demonstrate the ability of the C-MCR to navigate complex pathways and deliver nanomedicines over long distances to specific areas via its internal channels using a large homemade eight-coil electromagnetic system. The C-MCR offers promising application prospects for the long-distance delivery of tailored nanomedicines because of its simple operation, reduced risks, and larger attainable workspace.