Closed-loop control of a magnetically-actuated catheter using two-dimensional ultrasound images

Flexible Instruments for Endovascular Interventions: Improved Magnetic Steering, Actuation, and Image-Guided Surgical Instruments

“…Permanent magnets Electromagnets [18], [30], [31], [36], [38] • Can generate high deflection forces.…”

“…Deflection was accomplished with the assumption that the spatial variation of the field from (1) is small enough that the force is negligible. Boskma et al [36] also demonstrated a magnetically actuated catheter in 2-D using the interaction between permanent magnets embedded inside the tip, and external electromagnetic fields. A homogeneous magnetic field was used to steer the catheter in 2-D space using two Helmholtz coils while also assuming the magnetic force to be zero.…”

“…However, substantial field generation results in a significant temperature rise within the coils. The main advantage of permanent magnets is that they exhibit a nondecaying magnetization and do not require currents to generate a magnetic field as with electromagnets [36]. This makes it difficult to use during studies that require instruments to track or visualize catheters, which may be damaged by constant exposure to magnetic fields [45].…”

Towards a Magnetically-Actuated Laser Scanner for Endoscopic Microsurgeries

“…Researchers have proposed magnetic actuation for the miniaturization of the surgical catheters. [30][31][32] In these studies, a permanent magnet attached to a cantilevered beam is actuated with an external magnetic field for position control. Magnetic fields allow high frequencies appropriate for the scanning feature.…”

Control of continuum robots for minimally invasive interventions

“…The potential use of SFCs such as magnetically-actuated catheters for MIS has been demonstrated by several research groups [128,129]. These catheters could provide dexterity and instrument stabilization for beating heart motions, which is desired in MIS MV repair.…”