Modular magnetic soft robotic catheter enables visualized intervention in the pancreatobiliary tree

Abstract

Diagnosis and therapy in the pancreatobiliary tree are limited by access. Guidewires reach deep into the ducts but are blind, whereas cholangioscopes provide vision but are too large to readily enter the pancreatic body and tail, the cystic duct, or the gallbladder. At the millimeter scale of these ducts, every function added to a steerable catheter competes with steering 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 anchoring balloons, and a micrometer-thick ultrasound-triggered release shell together reduced the tip angle at 8 mT only from 70° to 64°. 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 teleoperated under onboard vision 75 mm into the pancreatic duct and, without a guidewire, through the cystic duct into the gallbladder, whose lumen it imaged. Anchoring, grasping, and payload release were each demonstrated in vivo. Adding each function at a measured cost to steering allows a soft robot small enough for these ducts to intervene as well as navigate.

arXiv comment31 pages, 7 figures, 1 table, 7 supplementary figures