A Novel Tip-positioning Control of a Magnetically Steerable Guidewire in Sharply Curved Blood Vessel for Percutaneous Coronary Intervention

Kim, Jayoung; Nguyen, Phu Bao; Kang, Byungjeon; Kim, Hyungwoo; Park, Jong-Oh; Kim, Chang‐Sei

doi:10.1007/s12555-018-0116-8

Cited by 34 publications

(23 citation statements)

References 24 publications

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“…This section mainly focuses on the four-wheeled rollator of the elderly to design a walking aid, combining the application methods and research results of TRIZ theory, Kano model theory, and QFD theory. Questionnaire survey, user interviews, and other research methods were used to obtain the user demand information of the walking aid of the elderly, and the Kano-QFD demand analysis part on the integrated model was used to analyze and transform the user demand [35][36][37].…”

Section: Novel Industrial Design For the Rollatormentioning

confidence: 99%

Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

Zhang

Fan

et al. 2019

Applied Sciences

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In the past few decades, the research of assistant mobile rollators for the elderly has attracted more and more investigation attention. In order to satisfy the needs of older people or disabled patients, this paper develops a neural approximation based predictive tracking control scheme to improve and support the handicapped through the novel four-wheeled rollator. Firstly, considering the industrial product theory, a novel Kano-TRIZ-QFD engineering design approach is presented to optimize the mechanical structure combined with humanistic care. At the same time, in order to achieve a stable trajectory tracking control for the assistant rollator system, a neural approximation enhanced predictive tracking control is discussed. Finally, autonomous tracking mobility of the presented control scheme has received sufficient advantage performance in position and heading angle variations under the external uncertainties. As the market for the medical device of the elderly rollators continues to progress, the method discussed in this article will attract more investigation and industry concerns.

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Section: Novel Industrial Design For the Rollatormentioning

confidence: 99%

Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

Zhang

Fan

et al. 2019

Applied Sciences

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“…By tracking control of the planar CDPR, the position of PM in an arbitrary position can be obtained through the robot forward kinematics with respect to the global coordinates of a bed. Since the PM can provide a magnetic field externally and internally through the electromagnetic guide system to actuate the CE [ 35 , 36 ], an electromagnetic actuator (EMA) system consisting of Helmholtz and Maxwell coils or external magnets is also compatible with the proposed localization methodology [ 37 , 38 ].…”

Section: Introductionmentioning

confidence: 99%

Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope

Kim

Kim²,

Park

et al. 2020

Sensors

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Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine is still challenging owing to the limitation of capsule size, relatively large diagnostic volume, and compatibility of other devices in clinical site. To address this issue, we present a novel robotic localization sensing methodology based on the kinematics of a planar cable driven parallel robot (CDPR) and measurements of the quasistatic magnetic field of a Hall effect sensor (HES) array. The arrangement of HES and the Levenberg-Marquardt (LM) algorithm are applied to estimate the position of the permanent magnet (PM) in the CE, and the planar CDPR is incorporated to follow the PM in the CE. By tracking control of the planar CDPR, the position of PM in any arbitrary position can be obtained through robot forward kinematics with respect to the global coordinates at the bedside. The experimental results show that the root mean square error (RMSE) for the estimated position value of PM was less than 1.13 mm in the X, Y, and Z directions and less than 1.14° in the θ and φ orientation, where the sensing space could be extended to ±70 mm for the given 34 × 34 mm2 HES array and the average moving distance in the Z-direction is 40 ± 2.42 mm. The proposed method of the robotic sensing with HES and CDPR may advance the sensing space expansion technology by utilizing the provided single sensor module of limited sensible volume.

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“…Recently, magnetically controllable therapeutic agent carriers (MCTACs) have emerged as a suitable candidate facilitating the development of precisely targeted drug delivery systems. As MCTACs contain magnetic nanoparticles (MNPs), they can be controlled and directed to a target lesion by means of external permanent magnets or electromagnetic actuation system (EMA) [1][2][3][4]. Owing to the advantages of minimally invasive surgery and accompanied by a strong targeting ability and reduced side effects, MCTACs have been highlighted for their precise therapeutic delivery, particularly in terms of cell-based therapeutics and triggered drug releases [5].…”

Section: Introductionmentioning

confidence: 99%

“…However, active locomotion to the target lesion required minimally invasive surgery, which was unsuccessful due to the passive property of the permanent magnet. Therefore, to achieve external wireless active actuation, an electromagnetic system was incorporated into the MCTAC based on previous microrobot motion control technology [2,23,24]. As a promising result of the combination of the EMA and the MCTAC, Go et al were able to develop a biodegradable scaffold with a porous structure carrying MSCs [25].…”

Section: Introductionmentioning

confidence: 99%

Wearable Fixation Device for a Magnetically Controllable Therapeutic Agent Carrier: Application to Cartilage Repair

Lee

Yoo³

et al. 2020

Pharmaceutics

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Recently, significant research efforts have been devoted toward the development of magnetically controllable drug delivery systems, however, drug fixation after targeting remains a challenge hindering long-term therapeutic efficacy. To overcome this issue, we present a wearable therapeutic fixation device for fixing magnetically controllable therapeutic agent carriers (MCTACs) at defect sites and its application to cartilage repair using stem cell therapeutics. The developed device comprises an array of permanent magnets based on the Halbach array principle and a wearable band capable of wrapping the target body. The design of the permanent magnet array, in terms of the number of magnets and array configuration, was determined through univariate search optimization and 3D simulation. The device was fabricated for a given rat model and yielded a strong magnetic flux density (exceeding 40 mT) in the region of interest that was capable of fixing the MCTAC at the desired defect site. Through in-vitro and in-vivo experiments, we successfully demonstrated that MCTACs, both a stem cell spheroid and a micro-scaffold for cartilage repair, could be immobilized at defect sites. This research is expected to advance precise drug delivery technology based on MCTACs, enabling subject-specific routine life therapeutics. Further studies involving the proposed wearable fixation device will be conducted considering prognostics under actual clinical settings.

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A Novel Tip-positioning Control of a Magnetically Steerable Guidewire in Sharply Curved Blood Vessel for Percutaneous Coronary Intervention

Cited by 34 publications

References 24 publications

Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

Neural Approximation Enhanced Predictive Tracking Control of a Novel Designed Four-Wheeled Rollator

Robotic Localization Based on Planar Cable Robot and Hall Sensor Array Applied to Magnetic Capsule Endoscope

Wearable Fixation Device for a Magnetically Controllable Therapeutic Agent Carrier: Application to Cartilage Repair

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