A Novel Flexible Soft Robotic-Bandage for Gastrointestinal Wound Coverage Function

This study presents a magnetically driven soft robotic-bandage with multimodal locomotion capabilities, designed for precision operations in complex gastrointestinal environments. The soft robot features a single-layer rectangular structure fabricated from NdFeB silicone composite, achieving programmable magnetization through pulsed-field alignment. A modified dynamic model with fluid-structure interaction analysis reveals frequency-dependent deformation characteristics, enabling two distinct motion modes under oscillating 15mT magnetic fields: low-frequency at 2Hz for flapping motion and high-frequency 5 Hz for peristaltic motion through 3mm scale gaps. Experimental validation demonstrates 45 ° bending deflection at 20 mT field strength and rapid 90 °directional flipping. The measured speeds of 5.72 mm/s for flapping motion and 12.1 mm/s for flipping motion. This work establishes a paradigm for soft magnetic robots in endoscopic interventions, wound coverage, adaptive locomotion, and clinical-scale operation speeds.