Hybrid Tendon-Actuated and Soft Magnetic Robotic Platform for Pancreatic Applications

Magnetic Soft Continuum Robots (MSCR) are used in a wide variety of surgical interventions, including neurological, pancreatic, and cardiovascular procedures. To function effectively, these MSCRs require complex programmable magnetisation. However, they often suffer from limited manoeuvrability and imprecise positioning of the devices that carry them. Tendon-Driven Continuum Robots (TDCR) have the potential to address these issues. These navigation systems not only enable higher accuracy and precision but also offer the potential for remote control, thereby reducing clinicians' exposure to ionising radiation. Currently, MSCRs are deployed from manual flexible endoscopes without motion compensation, leading to uncertainty and trial-and-error insertion. In this study, the deployment of high aspect ratio MSCRs (60 mm long by 1.3 mm diameter) from a tendon-driven robot (25 cm long with a 2.8 mm diameter) is performed. By precisely positioning the deployment point, this paper evaluates the benefits of different magnetisation profiles. The comparison is carried out for a specific clinical scenario, assessing procedure time, the distance between the external permanent magnet (used for steering) and the MSCR, and the interaction force with the tissue. Clinical relevance is demonstrated through pancreatic and bile duct cannulation in a silicon phantom.