Grasping Using Magnetically-Actuated Tentacle Catheter: A Proof-of-Concept Study

Abstract

The use of magnetically-actuated catheters has the potential to facilitate minimally-invasive surgical procedures. In this work we present a magnetically-actuated tentacle catheter for object manipulation in remote areas of human body. The catheter employs a bio-inspired technique of underactuated grasping. The whole body of the catheter loops around the target object, providing form closure necessary for manipulation. The catheter employs a permanent magnet to steer the position of its tip, and an electromagnetic coil to strengthen the maximum force applicable to the target object. We test the catheter in a series of proof-of-concept experiments. In a thermal study, we show that within the operational conditions, the heat dissipated by the coil allows for safe operation of tentacle catheter within human body. Subsequently, we characterise the maximum force available for manipulation using force sensor. The tentacle catheter can apply forces up to 0.1 N, which is in accordance with finite-element simulation. This force is sufficient for object manipulation in surgical tasks, such as biopsy. Finally, we demonstrate the operation of the tentacle catheter in a task involving manipulation of porcine tissue.

A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness

“…Furthermore, there is a demonstrable appetite for the automation and miniaturization of both approaches [26] [27]. Other grasping type designs have been demonstrated in the literature such as the pneumatically actuated systems in [28] and the electromagnetic coil of [29] but these systems are all limited to varying extents in their minimum size. Our high deformation, variable stiffness approach offers the potential for increased grasp strength per unit size over magnetic forceps-like designs [30] whilst still displaying potential for miniaturization.…”

A Magnetically-Steerable Stenting Catheter for Minimally Invasive Cardiovascular Interventions

“…Liu et al developed a catheter with multiple coils that is compatible with magnetic resonance imaging (MRI) [11]. Sikorski et al used a combination of an embedded electromagnetic coil and a permanent magnet to achieve grasping function [12]. Magnetic steering of passive guidewires has been explored with the aim of improving steering precision and reducing trauma due to catheter contact [13], [14].…”

A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study

“…Multiple studies have been conducted on the use of RMN and magnetic control strategies for surgical manipulators [29][30][31][32]. This has heightened the need for versatile designs of magnetic catheters which are dexterous and multifunctional to perform complex surgical procedures [33][34][35].…”