In our new paper, we highlight the advantages of a hybrid robotic platform that combines tendon-driven actuation for precise positioning and motion compensation with magnetic catheter actuation, enabling damage-free cannulation of the pancreatic duct.
Additionally, we present a comprehensive evaluation of different magnetic profiles for performing the same cannulation, introducing the potential to utilise either one or two external permanent magnets, depending on the clinical scenario.
This work is the result of a productive collaboration with Prof. Ryu from Ewha Womans University, Seoul, South Korea.