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Stable magnetic soft structures.

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Title: Stable magnetic soft structures.
Authors: Wang H; Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China.; Beijing Institute of Collaborative Innovation, Beijing, China., Zhang Y; Division of Integrative Systems and Design, The Hong Kong University of Science and Technology, Hong Kong, China., Liu X; Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China., Li H; Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu 610041, P.R. China.; Department of Cardiology, West China Hospital, Sichuan University, #37 Guoxue Alley, Chengdu 610041, P.R. China., Chen X; Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China., Cao Z; Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China., Luo Q; Laboratory of Cardiac Structure and Function, Institute of Cardiovascular Diseases, West China Hospital, Sichuan University, Chengdu 610041, P.R. China.; Department of Cardiology, West China Hospital, Sichuan University, #37 Guoxue Alley, Chengdu 610041, P.R. China., Ren Z; School of Mechanical Engineering and Automation, Beihang University, Beijing 100191 China., Hu W; Department of Mechanical and Aerospace Engineering, The Hong Kong University of Science and Technology, Hong Kong, China.; Division of Integrative Systems and Design, The Hong Kong University of Science and Technology, Hong Kong, China.; Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong, China.
Source: Science advances [Sci Adv] 2025 Nov 14; Vol. 11 (46), pp. eadz4952. Date of Electronic Publication: 2025 Nov 14.
Publication Type: Journal Article
Language: English
Journal Info: Publisher: American Association for the Advancement of Science Country of Publication: United States NLM ID: 101653440 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 2375-2548 (Electronic) Linking ISSN: 23752548 NLM ISO Abbreviation: Sci Adv Subsets: MEDLINE
Imprint Name(s): Original Publication: Washington, DC : American Association for the Advancement of Science, [2015]-
MeSH Terms: Magnetic Fields* , Magnetics*, Anisotropy ; Humans
Abstract: Magnetic soft structures are highly versatile in unstructured environments, making them attractive for minimally invasive medical devices. However, this versatility also renders them susceptible to unintended deformations under fluctuating magnetic fields. The challenge is further compounded by medical imaging limitations that hinder accurate estimation of device pose and shape and by anatomical boundaries that enforce misalignment with the field. Collectively, these factors can cause uncontrolled shape change and functional failure. Here, we focus on slender magnetic soft structures to investigate their stability under misaligned fields. Our anisotropic design, achieved through flexural joints, yields ~52-fold higher bending stiffness in the preferred direction and ~18-fold higher torsional stiffness than isotropic beams. This structure serves as a building block for stable spiral tentacles, helices, planar sheets, expandable devices, cubes, and three-dimensional tessellation. We validate robustness through wormlike self-propulsion, guidewire navigation with 30-fold lower insertion force, and capsule peristaltic locomotion, advancing safer, more controllable devices.
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Entry Date(s): Date Created: 20251114 Date Completed: 20251114 Latest Revision: 20251117
Update Code: 20251117
PubMed Central ID: PMC12617503
DOI: 10.1126/sciadv.adz4952
PMID: 41237246
Database: MEDLINE
Description
Abstract:Magnetic soft structures are highly versatile in unstructured environments, making them attractive for minimally invasive medical devices. However, this versatility also renders them susceptible to unintended deformations under fluctuating magnetic fields. The challenge is further compounded by medical imaging limitations that hinder accurate estimation of device pose and shape and by anatomical boundaries that enforce misalignment with the field. Collectively, these factors can cause uncontrolled shape change and functional failure. Here, we focus on slender magnetic soft structures to investigate their stability under misaligned fields. Our anisotropic design, achieved through flexural joints, yields ~52-fold higher bending stiffness in the preferred direction and ~18-fold higher torsional stiffness than isotropic beams. This structure serves as a building block for stable spiral tentacles, helices, planar sheets, expandable devices, cubes, and three-dimensional tessellation. We validate robustness through wormlike self-propulsion, guidewire navigation with 30-fold lower insertion force, and capsule peristaltic locomotion, advancing safer, more controllable devices.
ISSN:2375-2548
DOI:10.1126/sciadv.adz4952