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فارسی

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Magnetic Catheter Robot with Reduced Friction for Endovascular Minimally Invasive Access

Authors :

Sina Eskandary¹ Mohammad Amin Salati² Rezayat Parvizi³ Farhang Abbasi⁴

1- Sahand University of Technology 2- Sahand University of Technology 3- Department of Radiology, Imam Reza Hospital Tabriz University of Medical Sciences Tabriz, Iran 4- Sahand University of Technology

Keywords :

endovascular interventions،magnetic catheter robot،magnetic actuation،minimally invasive access

Abstract :

Endovascular interventions require rapid access and minimal invasiveness to target sites. Catheterization is an effective approach for treating vascular diseases but faces challenges in efficiency and safety within narrow, tortuous vasculature. Here, we present a soft magnetic-polymer catheter robot that combines distributed magnetic actuation with a nanoscale, Hydrogel-based skin to enable active steering and reduced surface friction for minimally invasive endovascular access. The catheter exhibited rapid, large-angle bending in response to low-strength external magnetic fields, allowing safe traversal of confined, convoluted channels. Light-induced hydrogel grafting markedly increased surface hydrophilicity, reducing the water contact angle from ≈100° (uncoated) to ≈48° (coated), and friction measurements in a blood-mimicking fluid (falling-sphere assay) demonstrated lower friction for hydrogel coated samples compared with uncoated controls, indicating reduced insertion and sliding forces. The thin, strongly bonded hydrogel layer preserves the catheter’s compliance and magnetic responsiveness, supporting safer, more adaptable navigation and the potential to expand reach in difficult-to-access vasculature.