Contactless robotic system for linear catheter advancement using magnetic actuation

Sterility management remains a challenge in robotic catheter manipulation. This work presents FlyCaD, an early-stage robotic catheter-drive prototype that transmits torque magnetically across a sealed sterile barrier and uses a disposable cartridge as the only component in direct contact with the catheter.

The system consists of a reusable static base module and a dynamic upper module carrying the disposable cartridge. Magnetic coupling enables catheter gripping, release, and guidewire rotation without mechanical contact across the sterile barrier. Linear motion is obtained through a clamp-translate-release-retract sequence. The prototype was evaluated in transparent bifurcated vascular phantoms using insertion-retraction cycles, combined guidewire-catheter manipulation, and branch-selection trials.

The prototype completed 10/10 catheter insertion-retraction cycles and 10/10 combined guidewire-catheter cycles without loss of grip. Branch selection was successful on the first attempt in 8/10 trials. Commercial 4F-8F catheters were tested without hardware changes. The cartridge was easy to exchange and maintained magnetic torque transmission during operation. The levitation mechanism enabled contactless translation but lost stability above an unmeasured axial load threshold.

FlyCaD demonstrates the feasibility of contactless magnetic torque transmission across a sealed sterile wall for robotic catheter manipulation. The prototype is a functional proof of concept rather than a clinically validated platform. Future work will focus on instrumented characterization, improved linear actuation, wireless operation, and real-time control.