๐ This paper addresses several key challenges in PDT, including cross-contamination, constrained operative space, complex anatomy, and the lack of tactile feedback during manual procedures. To overcome these barriers, we propose an โinside-outโ robotic system equipped with a retractable drill and wireless magnetic actuation. By integrating feedback from tactile and magnetic sensors along with precise control mechanisms, the system enhances the safety of tracheal punctures, preventing damage to adjacent tissues, such as the esophagus, and reducing reliance on manual expertise.
๐ฌ Ex vivo experiments on porcine tracheas validated the feasibility of this approach, demonstrating effective puncture with a maximum localization deviation of 6.308 mm, preliminarily confirming the systemโs potential to achieve safer and more consistent outcomes in clinical settings.
Paper link: https://lnkd.in/gEgmaDVj
