A Flexible Catheter System for Ultrasound-Guided Magnetic Projectile Delivery

Magnetic actuation is a versatiletechnology, widely applied in medical robotics for noncontact steering of flexible instruments and untethered agents. In this article, we exploit the benefits technology by developing magnetically actuated catheter capable controlled ejection retrieval an magnetic capsule. The advanced manipulation system. scanning ultrasound used 3-D shape reconstruction catheter, with mean error 0.37 mm. We use closed-loop position controller to steer reporting 0.82 develop dynamic model capsule it predict trajectory projectile. demonstrate targeting utilizing null-space (mean residual tip displacement 0.8 mm). Finally, perform delivery from target inaccessible tip, demonstrating capability our instrument reach challenging locations.