Patient-Specific Magnetic Catheters for Atraumatic Autonomous Endoscopy.

ABSTRACT: Despite increasing interest in minimally invasive surgical techniques and related developments in flexible endoscopes and catheters, follow-the-leader motion remains elusive. Following the path of least resistance through a tortuous and potentially delicate environment without relying on interaction with the surrounding anatomy requires the control of many degrees of freedom. This typically results in large-diameter instruments. One viable solution to obtain dexterity without increasing size is via multiple-point magnetic actuation over the length of the catheter. The main challenge of this approach is planning magnetic interaction to allow the catheter to adapt to the surrounding anatomy during navigation. We design and manufacture a fully shape-forming, soft magnetic catheter of 80 mm le

SUBMITTER: Pittiglio G 

PROVIDER: S-EPMC9805888 | biostudies-literature | 2022 Dec

REPOSITORIES: biostudies-literature