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One-Piece 3D-Printed Pneumatic Catheter: Dual-Segment Design with Integrated Robotics Control for Endovascular

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IEEE International Conference on Soft Robotics. IEEE International Conference on Soft Robotics
|April 2, 2025
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Summary

This study presents a novel 3D-printed soft robotic catheter with pneumatic bending units for endovascular interventions. The cost-effective system offers precise control and a wide bending range, ideal for rapid prototyping and education.

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Area of Science:

  • Medical Robotics
  • Soft Robotics
  • Biomedical Engineering

Background:

  • Soft robotics enhance medical applications like endovascular interventions using steerable catheters.
  • Current catheters face challenges with complex manufacturing, control, hysteresis, and nonlinear material properties.

Purpose of the Study:

  • Introduce a novel, 3D-printed soft robotic catheter with integrated pneumatic bending units.
  • Optimize catheter design for reduced diameter and enhanced steerability for endovascular procedures.

Main Methods:

  • Utilized finite element analysis (FEA) for design optimization and diameter minimization to 6.4 mm.
  • Integrated an external robotic control system for physical experiments and assessment of bending capabilities.
  • Developed a 3D-printed hollow tip with two pneumatic bending units for dual-axis rotation.

Main Results:

  • Achieved proficient shape control with a wide bending range (-47° to 169°) under integrated control.
  • Demonstrated accurate conformation to 'C', 'S', and 'J' shapes with 0.53° closed-loop accuracy.
  • Exhibited low hysteresis and high repeatability in the catheter prototype.

Conclusions:

  • The novel pneumatic steerable catheter system offers a pragmatic and cost-effective solution for rapid prototyping.
  • The system is well-suited for preliminary concept testing and educational applications in endovascular interventions.
  • This advancement simplifies the development of soft robotic catheters for minimally invasive procedures.