Magnetic Soft Continuum Robots With Braided Reinforcement

Flexible catheters are used in a wide variety of surgical interventions including neurological, pancreatic and cardiovascular. In many cases lack dexterity miniaturization along with excessive stiffness results large regions the anatomy being deemed inaccessible. Soft continuum robots have potential to mitigate these issues. Due its enormous for miniaturization, magnetic actuation is particular interest this field. Currently, flexible often rely on interactive forces generate deformations during navigation soft anatomical structures could be considered potentially damaging. study we demonstrate insertion high aspect ratio, 50 mm long by 2 diameter, catheter capable navigating up 180 $^{\circ }$ bend without aid interaction. This reinforced lengthwise braided structure magnetization allows it shape form tortuous paths. We our innovation planar silicone pancreas phantom. also compare approach mechanically equivalent tip driven an identically magnetized, unreinforced catheter.