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Keywords = tapered MSCR

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20 pages, 12065 KiB  
Article
Design and Optimization of a Tapered Magnetic Soft Continuum Robot for Enhanced Navigation in Cerebral Vasculature
by Jiahang Wang, Yuhang Liu, Xiwen Lu, Yunlong Zhu and Chenyao Bai
Micromachines 2025, 16(6), 701; https://doi.org/10.3390/mi16060701 - 12 Jun 2025
Viewed by 1022
Abstract
Magnetic soft continuum robots (MSCRs) have broad application advantages in vascular intervention; however, current MSCRs still face challenges in navigating the narrower and tortuous structure of the cerebral vasculature. To address this challenge, we propose a tapered MSCR (T-MSCR), which is designed to [...] Read more.
Magnetic soft continuum robots (MSCRs) have broad application advantages in vascular intervention; however, current MSCRs still face challenges in navigating the narrower and tortuous structure of the cerebral vasculature. To address this challenge, we propose a tapered MSCR (T-MSCR), which is designed to facilitate smooth navigation through microvascular structures via its miniature tip. Specifically, to optimize its bending ability, we combine the Gray Wolf Optimizer (GWO) with the Euler–Bernoulli beam theory and introduce a Discrete GWO (DGWO) approach to optimize the distribution of magnetic particles within the T-MSCR. We then demonstrate the optimization process of the T-MSCR’s bending ability, comparing and analyzing its deflection angle and deformation characteristics, highlighting its capability to enter microvasculars. Furthermore, we demonstrate the magnetic steering and path selection capabilities of T-MSCR in a two-dimensional vascular model and its navigation performance in real-scale human vascular models. Finally, biocompatibility tests confirm that T-MSCR exhibits no toxicity to human cells, thereby laying a solid foundation for its clinical application. The proposed T-MSCR design and optimization are expected to provide a more efficient and feasible solution for future cerebrovascular interventions. Full article
(This article belongs to the Section B:Biology and Biomedicine)
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