Magnetorheological Fluid–Driven Rolling Soft Robot for Tissue-Sparing Minimally Invasive Therapy

Overview

Worldwide, medical problems in tubular organs, including emboli in blood vessels and foreign objects in the digestive tract, remain major threats to human health, while current surgical treatments can still cause tissue damage and complications. This project presents a magnetically controlled soft robot using magnetorheological fluid (MRF) for minimally invasive therapy. Controlled by external magnetic fields, the robot can move gently through narrow structures. Unlike many current medical tools that slide and rub against tissue, it uses a rolling motion to perform medical functions while reducing potential damage. The system was experimentally validated, showing a 92% rolling success rate, sub-millimeter targeting accuracy with an error of 0.51 mm, stability in flowing liquid, and the ability to wrap around and remove small objects weighing up to 4.5 N. These results suggest potential for retrieval and treatment applications within tubular structures in the human body.

Awards (2)

• Silver Medal
• Selected for CWSF 2026

Competition history

• CWSF 2026 Disease & Illness

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