Modular magnetic soft robotic catheter enables visualized intervention in the pancreatobiliary tree
Overview
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.
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Event evidence and corrections
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Reported quantity · catheter diameter: 1.47 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · tip angle at 8 mT: 64 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · tip angle at 8 mT (initial): 70 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalModular 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.
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