Fig. 2: Modelling and characterisation of the Helixoft-integrated microcatheter. | Nature Communications

Fig. 2: Modelling and characterisation of the Helixoft-integrated microcatheter.

From: Magnetically controlled microrobotic system for programmable stiffness tuning and active steering of microcatheters

Fig. 2

a Schematic of the microcatheter, showing key geometric parameters (left) and the constant-curvature model (right). b Three Helixoft microrobots with different stiffness ranges, mounted on microcatheters with distinct representative properties at sizes of 300 μm (thinnest diameter), 600 μm (largest stiffness tuning range) and 1 mm (finest tuning precision) in diameter. c Comparison results of approximate analysis, numerical analysis, and experimental measurement of the microcatheter’s pose (x, y, θ) under certain R- and S-field conditions. n = 3 repeated experiments. d Motion sequences showing the stiffness tuning process of the microcatheter through the screw-like helical motion of the rigid magnetic helix under the R-field. The black arrow denotes the translational motion direction of the rigid magnetic helix. e Sequential images showing the steering behaviour of three microcatheters at low-stiffness states. f Motion sequences showing the magnetic steering of the microcatheters at three stiffness states through the magnetic alignment of the distal end under the S-field. Scale bars: 2 mm for (b and d); 4 mm for (e and f).

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