磁驱动导管集中弯曲的刚度优化：在梯度刚度下保持可操控性
Stiffness Optimization for Concentrated Bending in Magnetically Actuated Catheters: Maintaining Steerability under Gradient Stiffness
AI总结：
针对磁驱动软导管在推送性与近端集中弯曲之间的权衡，提出一种刚度优化的多段磁驱动导管（SO-MAC），通过解耦转向-推进机构和梯度刚度架构，在推进过程中实现稳定的近端枢轴弯曲，同时远端被动自直以传递推进力。
摘要：
对于磁驱动软导管，实现高效的推送性（推进力传递）和近端集中弯曲以保持可操控性具有挑战性：较高的轴向/弯曲刚度可改善力传递但降低可操控性，而较低的刚度可实现大的近端集中弯曲，但在压缩推送载荷下增加扭结/屈曲风险。为了解决这一权衡，我们提出了一种刚度优化的多段磁驱动导管（SO-MAC），它集成了解耦的转向-推进机构与梯度刚度架构。SO-MAC在推进过程中将弯曲集中在稳定的近端枢轴周围，而远端部分通过优化的刚度分布和弹簧骨架的弹性恢复抵抗摩擦引起的扭结/屈曲，被动自直以传递推进力。在$0{-}180^{\circ}$的组合转向和推进过程中，枢轴保持稳定，远端尖端几乎直线地向目标方向推进。直径为1.5 mm的SO-MAC在其10 mm尖端处实现了高达$180^{\circ}$的转向，弯曲半径为3 mm，平均形状误差为$1.39 \pm 0.56$ mm，转向枢轴误差为$0.35 \pm 0.10$ mm。在支气管模型中的视觉反馈控制进一步验证了通过高度弯曲的分叉路径的鲁棒导航。
英文摘要：
Achieving both efficient pushability (propulsion transmission) and proximally concentrated bending for steerability is challenging for magnetically actuated soft catheters: higher axial/bending stiffness improves force transmission but reduces steerability, whereas lower stiffness enables large, proximally concentrated bending yet increases kinking/buckling risk under compressive push loads. To address this trade-off, we propose a stiffness-optimized multi-segment magnetically actuated catheter (SO-MAC) that integrates a decoupled steering-advancement mechanism with a gradient-stiffness architecture. The SO-MAC concentrates bending about a stable proximal pivot during advancement while the distal section passively self-straightens to transmit propulsion, aided by the optimized stiffness distribution and elastic recovery of the spring backbone against friction-induced kinking/buckling. Over $0{-}180^{\circ}$ combined steering and advancement, the pivot remained stable and the distal tip advanced near-straight toward the target direction. A 1.5 mm-diameter SO-MAC achieved up to $180^{\circ}$ steering with a 3 mm bending radius at its 10 mm tip, with an average shape error of $1.39 \pm 0.56$ mm and a steering-pivot error of $0.35 \pm 0.10$ mm. Visual feedback control in a bronchial phantom further confirmed robust navigation through highly curved, bifurcating paths.
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