In this newly published journal article, we demonstrate shape control of a 50mm long by 1.8mm diameter magnetic catheter. The proposed modeling and control approach not only reduces contact with the environment during a procedure, but is also capable of adapting to different inserting positions and orientations, successfully clearing the duodenal papilla and successfully reaching the user selected destination.
The full Robotics and Automation Letters paper can be found at https://doi.org/10.1109/lra.2025.3565124.