Modular magnetic soft robotic catheter enables visualized intervention in the pancreatobiliary tree
Modular magnetic soft robotic catheter enables visualized intervention in the pancreatobiliary tree
This research introduces a 1.47-mm modular magnetic soft robotic catheter designed for minimally invasive intervention within the pancreatobiliary tree. The device integrates imaging, fiber Bragg grating shape sensing, and compliant manipulation functions directly into its structure to maintain navigability at the millimeter scale of pancreatic ducts. In vivo experiments on live pigs demonstrated the system's ability to perform operator-initiated task-autonomous cannulation of the native papilla without sphincterotomy, navigate 75 mm into the pancreatic duct under onboard vision, and traverse the cystic duct into the gallbladder for imaging. The catheter successfully demonstrated anchoring, grasping, and payload release capabilities, with functional additions quantified by their impact on bending stiffness under magnetic fields.
The study presents a 1.47-mm modular magnetic soft robotic catheter that integrates imaging, shape sensing, and compliant manipulation functions to enable visualized intervention in the pancreatobiliary tree, with in vivo demonstrations in live pigs showing task-autonomous cannulation of the native papilla and navigation into the gallbladder without a guidewire.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
catheter diameter
1.47
View original evidence
eering for cross-section and adds bending stiffness. We present a 1.47-mm modular magnetic soft robotic catheter in which each function is built into the magnetic body, onto its surface, or onto the footprint of the camera, and we measured what each function costs in bending under bedside fields. Imaging and fiber Bragg grating (FBG) shape sensing accounted for most of this cost, whereas a compliant gripper, magnetic
Open source S3tip angle at 8 mT
64
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anchoring balloons, and a micrometer-thick ultrasound-triggered release shell together reduced the tip angle at 8 mT only from 70{\deg} to 64{\deg}. The anchoring balloon increased the gripping force about threefold without stiffening the catheter during navigation. In live pigs, the robotic catheter performed operator-initiated task-autonomous cannulation of the native papilla without sphincterotomy and was teleope
Open source S4tip angle at 8 mT (initial)
70
View original evidence
anchoring balloons, and a micrometer-thick ultrasound-triggered release shell together reduced the tip angle at 8 mT only from 70{\deg} to 64{\deg}. The anchoring balloon increased the gripping force about threefold without stiffening the catheter during navigation. In live pigs, the robotic catheter performed operator-initiated task-autonomous cannulation of the native papilla without sphincterotomy and was teleope
Open source S4
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
anchoring balloons, and a micrometer-thick ultrasound-triggered release shell together reduced the tip angle at 8 mT only from 70{\deg} to 64{\deg}. The anchoring balloon increased the gripping force about threefold without stiffening the catheter during navigation. In live pigs, the robotic catheter performed operator-initiated task-autonomous cannulation of the native papilla without sphincterotomy and was teleope
Open source S4
eering for cross-section and adds bending stiffness. We present a 1.47-mm modular magnetic soft robotic catheter in which each function is built into the magnetic body, onto its surface, or onto the footprint of the camera, and we measured what each function costs in bending under bedside fields. Imaging and fiber Bragg grating (FBG) shape sensing accounted for most of this cost, whereas a compliant gripper, magnetic
Open source S3
Source：arXiv Robotics — research abstracts · arxiv.org