Optimal Design of Soft Continuum Magnetic Robots under Follow-the-leader Shape Forming Actuation

We describe a novel paradigm for task-specific optimization of millimetre scale, magnetically actuated soft continuum robots for application in endoscopic procedures. In particular, we focus on a multi-segment, elastomeric manipulator whose magnetization and actuating field is optimized for follow-the-leader shape forming during insertion into a known environment. Optimization of length-wise magnetization profile, or magnetic signature, is performed in parallel with that of the actuating magnetic field for a range of desired shapes. We employ a rigid-link model for the mechanics of the manipulator and assume the ability to generate a controlled homogeneous magnetic field across the workspace. To demonstrate the efficacy of the proposed approach, we present our results against those generated via Finite Element Analysis (FEA). Moreover, we compare our proposed method with a traditional tip-driven system exhibiting fixed magnetization; demonstrating a 48% error reduction in shape forming capability. The presented approach is evaluated across three additional navigation scenarios, demonstrating potential as a design tool for soft magnetic medical robots.