ArticleResearch (Washington, D.C.)2025
Multifunctional Magnetic Catheter Robot with Triaxial Force Sensing Capability for Minimally Invasive Surgery.
Article in Research (Washington, D.C.), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 10 papers.
What it found
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The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
10 citing papers in PubMed.
- From imaging enhancement to surgical autonomy: the evolutionary role of nanotechnology in AI-driven robotic surgery.Discover nano · 2026Review
- Distal mechanisms in robotic surgical instruments: a structured review of surgical access, miniaturisation constraints and procedure-specific performance trade-offs.Journal of robotic surgery · 2026Review
- Tortoise-Inspired Magnetically Actuated Soft Robot Enabled by Segmented Legs with Programmable Bending.Biomimetics (Basel, Switzerland) · 2026Article
- A Multimodal Magnetically Driven Soft Robot With Integrated Actuation-Sensing Based on Photothermal Reprogramming Technology.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Development of a Novel Fluorescent Recognition Guidewire System Toward Early Lung Cancer Biopsy.Advanced healthcare materials · 2026Article
- Smart Catheters for Diagnosis, Monitoring, and Therapy.Advanced healthcare materials · 2026Review
- An Untethered Ring-Shaped Miniature Robot with Axisymmetric Vibrations and Non-axisymmetrically Arranged Feet.Research (Washington, D.C.) · 2026Article
- System-Level Design and Integration of Dexterous Robotic Hands for Complex Manipulation.Research (Washington, D.C.) · 2026Review
- Deep Reinforcement Learning for Real-World Humanoid Robot Locomotion Control with Automatic Reward Learning.Research (Washington, D.C.) · 2026Article
- Millimeter-scale fluid-driven soft robots.National science review · 2025Article
Corrections and comments
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Authors and funding
13 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Magnetic continuum robots offer flexibility and controllability, making them promising for minimally invasive surgery (MIS). However, the clinical application of these robots is relatively limited due to the difficulty of integrating miniaturized triaxial force sensors and their single functionality. This paper proposes a multifunctional magnetic catheter robot with magnetic actuation steering and triaxial force-sensing capabilities. The robot features 3 channels at its tip that integrate multi-segmented magnets, a novel triaxial force sensor, and various functional instruments. The sensor is calibrated, demonstrating high sensitivity and accuracy. The steering characterization of the robot confirms that the catheter tip exhibits effective flexibility and force sensing. Palpation experiments involving various hard lumps are performed on porcine kidney, with results verifying that the robot can reliably detect abnormal hard lumps within tissues. Additionally, palpation experiments in bronchial phantom demonstrate the robot's imaging and palpation capabilities for lung nodules with an integrated endoscope. Further, the robot, equipped with biopsy forceps, successfully performs palpation and biopsy functions on simulated stomach polyps, demonstrating its capability for effective tissue manipulation. By leveraging force-sensing capabilities and integrating multifunctional instruments, the robot shows potential for expanded applications in MIS, paving the way for important advancements in clinical procedures.
Identifiers
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.