Potenziamento della coppia e della forza nei manipolatori magnetici morbidi per migliorare le prestazioni degli strumenti chirurgici flessibili: Un'analisi comparativa.

This thesis investigates the interaction between hard and soft magnetic materials to develop a naturally pre-curved tentacle-like structure. Magnetic fields generated by permanent magnets are used to magnetize soft magnetic composites (SMC) in their vicinity. The magnetization of SMC depends on its magnetic anisotropy, which in turn is determined by its geometry. By tailoring the geometry of the SMC to experience a torque in the field of the permanent magnets, structures can be made that naturally deflect. This work discusses modelling theory on the geometry-dependent magnetization of SMC. The simulated results are validated by experiments.