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Related Experiment Video

Updated: May 6, 2026

Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures
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Multi-Section Magnetic Soft Robot with Multirobot Navigation System for Vasculature Intervention.

Zhengyang Li1, Qingsong Xu1

  • 1Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Macau, China.

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Summary

This study introduces a novel magnetic soft robot for minimally invasive cardiovascular surgery. The robot, guided by ultrasound and magnetic fields, achieved precise navigation in complex vascular environments.

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Area of Science:

  • Robotics
  • Medical Devices
  • Cardiovascular Surgery

Background:

  • Minimally invasive cardiovascular surgery requires advanced tools for precise navigation.
  • Magnetic soft robots offer potential for complex intravascular interventions.
  • Existing systems may lack the dexterity and control needed for multi-bifurcation scenarios.

Purpose of the Study:

  • To present the analytical modeling and control of a novel multi-section magnetic soft robot (MS-MSR).
  • To enable precise intravascular intervention using magnetic actuation and ultrasound guidance.
  • To develop a collaborative multi-robot navigation system (CMNS) for enhanced maneuverability.

Main Methods:

  • Optimized Cosserat rod model for kinematic and dynamic analysis of MS-MSR.
  • Heterogeneous magnetic field generation for complex steering.
  • Extracorporeal ultrasound navigation for closed-loop tip tracking.
  • Quadratic programming for multi-objective motion synchronization in CMNS.

Main Results:

  • Successful navigation of the MS-MSR within a multi-bifurcation intravascular environment.
  • Achieved low shape modeling error () and tip error ().
  • Demonstrated effective closed-loop control and multi-robot collaboration via ultrasound guidance.

Conclusions:

  • The proposed MS-MSR and CMNS are effective for ultrasound-guided intravascular interventions.
  • The system shows high precision and adaptability in complex vascular geometries.
  • This technology holds significant promise for advancing minimally invasive cardiac surgery.