Multifunctional Magnetic Catheter Robot with Triaxial Force Sensing Capability for Minimally Invasive Surgery.

ABSTRACT: Magnetic continuum robots offer flexibility and controllability, making them promising for minimally invasive surgery (MIS). However, the clinical application of these robots is relatively limited due to the difficulty of integrating miniaturized triaxial force sensors and their single functionality. This paper proposes a multifunctional magnetic catheter robot with magnetic actuation steering and triaxial force-sensing capabilities. The robot features 3 channels at its tip that integrate multi-segmented magnets, a novel triaxial force sensor, and various functional instruments. The sensor is calibrated, demonstrating high sensitivity and accuracy. The steering characterization of the robot confirms that the catheter tip exhibits effective flexibility and force sensing. Palpation experimen

SUBMITTER: Fu S 

PROVIDER: S-EPMC12018763 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature