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