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

Computational Design of Magnetic Soft Shape-Forming Catheters using the Material Point Method