A Cooperative and Multifunctional Magnetic Continuum Robot for Noninteractive Access, Dexterous Navigation, and Versatile Manipulation

Abstract

AbstractSoft continuum robots can navigate through narrow and tortuous lumina. However, its interactions with the lumina during steering pose a risk of luminal injuries, especially if it integrates multifunctional units, which increase both the robot's size and local stiffness. Therefore, a continuum robot comprising coaxially assembled Guider and Follower components is designed that utilize phase change materials for noninteractive navigation and versatile manipulation. Navigation occurs through alternating softening‐hardening cycles: First, the Guider softens and advances under magnetic steering while the rigid Follower provides support. Then, the Guider solidifies to form a new backbone as the Follower softens to replicate its path. This process maintains structural integrity while enabling navigation along desired trajectories, thereby greatly reducing interactions with the lumen. To further accomplish complex tasks in large and open spaces, a continuum robot system with a triple‐individual Guider is developed in which the multi‐degree‐of‐freedom movement of the individuals is precisely and sequentially controlled through segmented stiffness regulation. This configuration achieves versatile manipulation, including targeted delivery, precision coating, grasping, and obstacle clearing in complex environments. Combining cooperative movement and diverse functionalities, this continuum robot design offers a new approach to dexterous navigation and intervention in minimally invasive surgical procedures.