Soft robotic instruments could navigate delicate, tortuous anatomy more safely than rigid tools, but clinical adoption is limited by insufficient tip functionalization and real-time feedback at the tissue interface. Few sensing and therapeutic modules are compact, robust, and adaptable enough to measure, and respond to, subtle physiological cues during intraluminal procedures. We present a 1.47 mm diameter modular soft robotic catheter that integrates sensing, actuation, and therapy while retaining the compliance needed for safe endoluminal navigation. Validated across multiple in vivo settings, we emphasize its utility in endoscopic retrograde cholangiopancreatography (ERCP), a highly technical procedure and a key access route to the pancreas, an organ that is fragile, difficult to instrument, and central to diseases such as pancreatic cancer. Our architecture supports up to four independently controlled functional units, allowing customizable combinations of anchoring, manipulation, sensing, and targeted drug delivery. In a live porcine model, we demonstrate semi-autonomous deployment into the pancreatic duct and 7.5 cm of endoscopic navigation within it, a region currently inaccessible with standard catheters. A closed-loop autonomous/shared-control system that combines a learned model, magnetic actuation, onboard shape sensing, and visual marker tracking further improves cannulation accuracy. Together, these results establish a scalable platform for multifunctional soft robotic catheters and a new paradigm for complex endoluminal interventions, with potential to reduce radiation exposure, shorten training, and accelerate clinical translation of soft robotic technologies.

翻译：软体机器人器械相比刚性工具能更安全地在脆弱、曲折的解剖结构中导航，但其临床应用受限于末端功能化不足及组织界面实时反馈的缺失。现有传感与治疗模块鲜有足够紧凑、鲁棒且能适应管腔内操作中微细生理信号监测与响应的设计。本文提出一种直径为1.47毫米的模块化软体机器人导管，在保持安全腔内导航所需顺应性的同时，集成了传感、驱动与治疗功能。通过多个体内场景验证，我们重点展示了其在经内镜逆行胰胆管造影（ERCP）中的应用价值——该技术作为进入胰腺的关键通路，操作技术要求极高，而胰腺本身结构脆弱、器械难以触及，且是胰腺癌等疾病的核心器官。我们的架构支持多达四个独立控制的功能单元，可实现锚定、操控、传感与靶向给药的可定制化组合。在活体猪模型中，我们演示了导管半自主部署进入胰管并在其内进行7.5厘米的内镜导航，该区域目前标准导管无法到达。结合学习模型、磁力驱动、内置形状传感与视觉标记跟踪的闭环自主/共享控制系统进一步提升了插管精度。这些成果共同构建了一个可扩展的多功能软体机器人导管平台，为复杂腔内介入提供了新范式，有望降低辐射暴露、缩短培训周期并加速软体机器人技术的临床转化。