A magnetic soft robotic system for intelligent bladder volume control

Underactive bladder (UAB) patients experience straining to void and typically cannot sense bladder fullness. Previous closed-loop bladder volume control systems are limited in neurogenic UAB patients and face infection risk due to wired connections. Here, we propose an intelligent bladder volume control system (IBCS) combining an implantable meshed magnetic soft robot (MMR) with a wearable magnetic field sensor. The MMR, tightly sutured to the bladder, compresses the bladder to facilitate urination under magnetic actuation, achieving a voiding efficiency of 94.8%. The wearable magnetic field sensor outside the abdomen achieves continuous and wireless monitoring of bladder volume with a 4.8% error in time. The MMR was validated on a UAB pig model, demonstrating a pressure increase of up to 33 cmH₂O and voiding efficiency of over 83%. Our IBCS provides a biocompatible solution for wireless and continuous bladder volume management by integrating wearable sensors and magnetic robotics.