TY - JOUR
T1 - Magnetic Control of a Steerable Guidewire under Ultrasound Guidance Using Mobile Electromagnets
AU - Yang, Zhengxin
AU - Yang, Lidong
AU - Zhang, Moqiu
AU - Wang, Qianqian
AU - Yu, Chun Ho Simon
AU - Zhang, Li
N1 - Funding Information:
This work was supported in part by the Hong Kong RGC under Project JLFS/E-402/18, in part by the ITF Project under Project ITS/231/15 and Project MRP/036/18X, in part by the Research Sustainability of Major RGC Funding Schemes (RSFS) under Project 3133228 and the Direct Grant at CUHK, and in part by the Multi-scale Medical Robotics Centre (MRC), InnoHK, at the Hong Kong Science Park. (Corresponding author: Zhengxin Yang.) Zhengxin Yang, Lidong Yang, Moqiu Zhang, Qianqian Wang, and Li Zhang are with the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, China
Publisher Copyright:
© 2016 IEEE.
PY - 2021/4
Y1 - 2021/4
N2 - Endovascular surgery has become a popular minimally invasive approach to diagnose and treat various vascular diseases. However, manipulating conventional passive guidewires and catheters still has technical challenges, such as long duration and undesired trauma. In addition, radiation exposure induced by commonly used fluoroscopic imaging has safety concerns. This letter presents a workflow that performs magnetic control of a steerable guidewire under ultrasound (US) guidance to address these issues. The designed magnetically steerable guidewire is fabricated by replica molding method, then a computational-efficient kinematic model is proposed to describe the relationship between the applied magnetic field and tip deformation. The constructed magnetic actuation system integrates three electromagnets and a US probe into a parallel mechanism, realizing large-workspace magnetic field generation and US feedback. Further, a motorized feeder is incorporated to provide the forward and backward motion of the guidewire. An autonomous control framework is proposed consisting of preoperative and intraoperative stages, through which the guidewire can be delivered to the targeted region automatically. Results show that the proposed kinematic model efficiently estimates the deformation of the guidewire. Furthermore, the overall procedure is experimentally validated on a phantom mimicking vascular structures. This letter provides a preliminary robotic solution to improve catheterization procedures by introducing magnetic actuation and US imaging.
AB - Endovascular surgery has become a popular minimally invasive approach to diagnose and treat various vascular diseases. However, manipulating conventional passive guidewires and catheters still has technical challenges, such as long duration and undesired trauma. In addition, radiation exposure induced by commonly used fluoroscopic imaging has safety concerns. This letter presents a workflow that performs magnetic control of a steerable guidewire under ultrasound (US) guidance to address these issues. The designed magnetically steerable guidewire is fabricated by replica molding method, then a computational-efficient kinematic model is proposed to describe the relationship between the applied magnetic field and tip deformation. The constructed magnetic actuation system integrates three electromagnets and a US probe into a parallel mechanism, realizing large-workspace magnetic field generation and US feedback. Further, a motorized feeder is incorporated to provide the forward and backward motion of the guidewire. An autonomous control framework is proposed consisting of preoperative and intraoperative stages, through which the guidewire can be delivered to the targeted region automatically. Results show that the proposed kinematic model efficiently estimates the deformation of the guidewire. Furthermore, the overall procedure is experimentally validated on a phantom mimicking vascular structures. This letter provides a preliminary robotic solution to improve catheterization procedures by introducing magnetic actuation and US imaging.
KW - automation at small scale
KW - Magnetic actuation
KW - steerable guidewire
KW - ultrasound imaging
UR - http://www.scopus.com/inward/record.url?scp=85101436155&partnerID=8YFLogxK
U2 - 10.1109/LRA.2021.3057295
DO - 10.1109/LRA.2021.3057295
M3 - Journal article
AN - SCOPUS:85101436155
SN - 2377-3766
VL - 6
SP - 1280
EP - 1287
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 2
ER -