As another example, in atrial fibrillation ablation, a surgeon usually threads a catheter into the patient’s heart, where the catheter’s tip applies high or low temperature to disrupt heart conduction that generates faulty electrical signals ( 8). For example, in mechanical thrombectomy, a surgeon usually inserts a guidewire/catheter combination from the patient’s femoral artery over the leg and navigates this combination using fluoroscopic imaging through the aorta into the target occluded artery (usually in the brain or lungs) for mechanical clot removal ( 7). The conventional minimally invasive treatments of cardiovascular diseases typically employ a passive guidewire and catheter with a preshaped tip that is manually operated under radioscopic imaging. 1 A), which is less traumatic and more effective than open surgery ( 3– 6). Diverse cardiovascular diseases are treated with minimally invasive surgery ( Fig. The current work not only achieves the optimal workspace for MSCRs but also provides a powerful tool for the efficient design and optimization of future magnetic soft robots and actuators.Ĭardiovascular diseases such as stroke and heart disease are the leading cause of long-term disability and death worldwide, with an annual cost of over $300 billion in the United States alone ( 1, 2). The proposed MSCR design is enabled by integrating a theoretical model and the genetic algorithm. Here, we report a systematic set of model-based evolutionary design, fabrication, and experimental validation of an MSCR with a counterintuitive nonuniform distribution of magnetic particles to achieve an unprecedented workspace.
The design and optimization of MSCRs have been challenging because of the lack of efficient tools. While the steerability of an MSCR largely relies on its workspace-the set of attainable points by its end effector-existing MSCRs based on embedding permanent magnets or uniformly dispersing magnetic particles in polymer matrices still cannot give optimal workspaces. To address these limitations, magnetic soft continuum robots (MSCRs) in the form of magnetic field–controllable elastomeric fibers have recently demonstrated enhanced steerability under remotely applied magnetic fields. While guidewire/catheter-based minimally invasive surgery is used to treat a variety of cardiovascular disorders, existing passive guidewires and catheters suffer from several limitations such as low steerability and vessel access through complex geometry of vasculatures and imaging-related accumulation of radiation to both patients and operating surgeons. Worldwide cardiovascular diseases such as stroke and heart disease are the leading cause of mortality.
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