Magnetic Soft Catheters (MSCs) are capable of miniaturization due to the use of an external magnetic field for actuation. Through careful design of the magnetic elements within the MSC and the external magnetic field, the shape along the full length of the catheter can be precisely controlled. However, modeling of the magnetic-soft material is challenging due to the complex relationship between magnetic and elastic stresses within the material. Approaches based on traditional Finite Element Methods (FEM) lead to high computation time and rely on proprietary implementations. In this work, we showcase the use of our recently presented open-source simulation framework based on the Material Point Method (MPM) for the computational design of magnetic soft catheters to realize arbitrary shapes in 3D, and to facilitate follow-the-leader shape-forming insertion.

翻译：磁性软体导管（MSCs）因采用外部磁场驱动而具备微型化优势。通过精细设计导管内部磁性元件与外部磁场，可精准控制导管全长形态。然而，由于材料内部磁应力与弹性应力间存在复杂耦合关系，磁-软材料建模具有较高难度。传统有限元法（FEM）的建模方式计算耗时且依赖专有实现。本研究展示了基于我们近期提出的开源仿真框架（采用物质点法（MPM））在磁性软体导管计算设计中的应用，该框架可实现三维任意形状成型，并支持"领导者跟随"式形状成型插入操作。