Small-scale magnetic soft robotic catheter for in-situ biomechanical force sensing.

Li, R; Wang, J; Zhao, X; Liu, Z; Jia, P; Liu, Y; Lin, G; Xu, H; Xiong, J

Small-scale magnetic soft robotic catheter for in-situ biomechanical force sensing.

Li, R Wang, J Zhao, X Liu, Z Jia, P Liu, Y Lin, G

Xu, H Xiong, J

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Publisher:: Elsevier
Publication Type:: Journal Article
Citation:: Biosens Bioelectron, 2025, 270, pp. 116977
Issue Date:: 2025-02-15

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Field	Value	Language
dc.contributor.author	Li, R
dc.contributor.author	Wang, J
dc.contributor.author	Zhao, X
dc.contributor.author	Liu, Z
dc.contributor.author	Jia, P
dc.contributor.author	Liu, Y
dc.contributor.author	Lin, G https://orcid.org/0000-0001-9880-8478
dc.contributor.author	Xu, H
dc.contributor.author	Xiong, J
dc.date.accessioned	2025-01-23T04:43:14Z
dc.date.available	2024-11-19
dc.date.available	2025-01-23T04:43:14Z
dc.date.issued	2025-02-15
dc.identifier.citation	Biosens Bioelectron, 2025, 270, pp. 116977
dc.identifier.issn	0956-5663
dc.identifier.issn	1873-4235
dc.identifier.uri	http://hdl.handle.net/10453/184075
dc.description.abstract	Miniaturized magnetic soft robotic catheters offer significant potential in minimally invasive surgery by enabling remote active steering and reduced radiation exposure. However, existing magnetic catheters are limited by the absence of in-situ biomechanical force sensing, which is crucial for controlling the contact force exerted on surrounding tissues during surgical procedures. Here, we report an in-situ force sensing strategy for small-scale magnetic robotic catheters. A coaxial integration of ring-shaped permanent and fibre-based force sensors at the catheter's distal end enables both active steering and precise force measurement. The force sensor is designed to be sensitive exclusively to contact forces perpendicular to its plane, achieving a sensitivity of 0.69 nm/kPa (or 0.38 nm/mN). By manipulating magnetic field patterns, the catheter can actively generate and control contact forces to tissues, using real-time feedback from the force sensor. We demonstrate the system's force-sensing and force-control capability in isolated organs and tissue phantom during passage, verifying the catheter's high force sensitivity and high steerability. The feedback-loop force control enhances procedural safety and efficacy for minimally invasive surgery, making it especially suitable for procedures such as transbronchial microwave ablation of lung nodules and cardiac ablation for atrial fibrillation.
dc.format	Print-Electronic
dc.language	eng
dc.publisher	Elsevier
dc.relation	http://purl.org/au-research/grants/arc/DE230100079
dc.relation.ispartof	Biosens Bioelectron
dc.relation.isbasedon	10.1016/j.bios.2024.116977
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	0301 Analytical Chemistry, 0903 Biomedical Engineering, 1007 Nanotechnology
dc.subject.classification	Bioinformatics
dc.subject.classification	3401 Analytical chemistry
dc.subject.classification	4003 Biomedical engineering
dc.subject.classification	4018 Nanotechnology
dc.subject.mesh	Catheters
dc.subject.mesh	Equipment Design
dc.subject.mesh	Biosensing Techniques
dc.subject.mesh	Robotic Surgical Procedures
dc.subject.mesh	Humans
dc.subject.mesh	Biomechanical Phenomena
dc.subject.mesh	Minimally Invasive Surgical Procedures
dc.subject.mesh	Animals
dc.subject.mesh	Magnetics
dc.subject.mesh	Robotics
dc.subject.mesh	Phantoms, Imaging
dc.subject.mesh	Animals
dc.subject.mesh	Humans
dc.subject.mesh	Equipment Design
dc.subject.mesh	Biosensing Techniques
dc.subject.mesh	Phantoms, Imaging
dc.subject.mesh	Robotics
dc.subject.mesh	Magnetics
dc.subject.mesh	Catheters
dc.subject.mesh	Biomechanical Phenomena
dc.subject.mesh	Minimally Invasive Surgical Procedures
dc.subject.mesh	Robotic Surgical Procedures
dc.title	Small-scale magnetic soft robotic catheter for in-situ biomechanical force sensing.
dc.type	Journal Article
utslib.citation.volume	270
utslib.location.activity	England
utslib.for	0301 Analytical Chemistry
utslib.for	0903 Biomedical Engineering
utslib.for	1007 Nanotechnology
pubs.organisational-group	University of Technology Sydney
pubs.organisational-group	University of Technology Sydney/Faculty of Science
pubs.organisational-group	University of Technology Sydney/Faculty of Science/School of Mathematical and Physical Sciences
pubs.organisational-group	University of Technology Sydney/UTS Groups
pubs.organisational-group	University of Technology Sydney/UTS Groups/Institute of Biomedical Materials and Devices (IBMD)
utslib.copyright.status	open_access	*
dc.rights.license	This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by/4.0/
dc.date.updated	2025-01-23T04:43:11Z
pubs.publication-status	Published
pubs.volume	270

Abstract:

Miniaturized magnetic soft robotic catheters offer significant potential in minimally invasive surgery by enabling remote active steering and reduced radiation exposure. However, existing magnetic catheters are limited by the absence of in-situ biomechanical force sensing, which is crucial for controlling the contact force exerted on surrounding tissues during surgical procedures. Here, we report an in-situ force sensing strategy for small-scale magnetic robotic catheters. A coaxial integration of ring-shaped permanent and fibre-based force sensors at the catheter's distal end enables both active steering and precise force measurement. The force sensor is designed to be sensitive exclusively to contact forces perpendicular to its plane, achieving a sensitivity of 0.69 nm/kPa (or 0.38 nm/mN). By manipulating magnetic field patterns, the catheter can actively generate and control contact forces to tissues, using real-time feedback from the force sensor. We demonstrate the system's force-sensing and force-control capability in isolated organs and tissue phantom during passage, verifying the catheter's high force sensitivity and high steerability. The feedback-loop force control enhances procedural safety and efficacy for minimally invasive surgery, making it especially suitable for procedures such as transbronchial microwave ablation of lung nodules and cardiac ablation for atrial fibrillation.

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http://hdl.handle.net/10453/184075