Magnetically actuated soft robots offer advantages for minimally invasive procedures, enabling precise control in confined spaces. This study explores the use of magnetic resonance imaging (MRI) gradient fields to actuate a tethered robotic guidewire using a leader-follower approach. A low-carbon steel sphere, connected by a medical filament, serves as the magnetic tip, with a silicone sleeve following its path to form a stable guidewire. Stepwise actuation via built-in MRI gradients enables controlled navigation. We evaluate magnetic pulling force, friction, and imaging artifacts from ferrous materials, optimizing the system to reduce signal voids while maintaining effective actuation. Experiments demonstrate successful free-space deformation and controlled motion, with follower guidance through constrained paths. The results highlight the method’s potential for precise MRI-guided navigation in endovascular and minimally invasive robotic procedures.
CORE (COnnecting REpositories)
CORE (COnnecting REpositories)