IVUS-Based Local Vessel Estimation for Robotic Intravascular Navigation

Barata, Beatriz Farola; Tran, Phuong Toan; Borghesan, Gianni; McCutcheon, Keir; Dall’Alba, Diego; Fiorini, Paolo; Sloten, Jos Vander; Poorten, Emmanuel Vander

doi:10.1109/lra.2021.3102307

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…Further, each segment i exerts a reaction torque τ r and force F r on the segment i − 1 immediately preceding it. For each force F and torque τ acting on the segment of length L at a point at a distance a from the anchored end, the deflection δ at the free end is calculated using (4), or (5). For each distributed force w, the deflection at the free end is calculated using (6).…”

Section: Modeling the Soft Magnetic Cathetermentioning

confidence: 99%

“…Minimally invasive procedures through endovascular interventions carried out using catheters have been reported to confer lower morbidity than open surgical techniques while preserving the efficiency [1]. The use of catheters is becoming increasingly common to access deep and remote anatomic regions through the body lumina for clinical procedures [2] like stent placement [3], laser ablation [4], and imaging [5] among others. However, such catheters remain difficult to use in tortuous paths due to limited tip control.…”

Section: Introductionmentioning

confidence: 99%

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Characterization of a 3D Printed Endovascular Magnetic Catheter

Ansari,

Ha,

Ourak

et al. 2023

Actuators

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Minimally invasive endovascular procedures rely heavily on catheter devices. However, traditional catheters lack active steering requiring considerable skill on the surgeon’s part to accurately position the tip. While catheter tips could be made steerable using tendon-driven and Pneumatic Artificial Muscle (PAM) approaches, remote magnetic actuation is uniquely suited for this task due to its safety, controllability, and intrinsic miniaturization capabilities. Soft composite magnetic materials feature embedding distributed magnetic microparticles compared with attaching discrete permanent magnets proving beneficial in steerability and control. This work demonstrates the fabrication of a soft hollow magnetic tip that can be attached to a catheter to make the assembly steerable. The catheter tip is extensively characterized in terms of bending hysteresis, bending force, and dynamic response. The catheter showed average hysteresis between 5% and 10% and bending forces up to 0.8 N. It also showed a good dynamic response by changing its bending angle in <200 ms under a step response.

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Section: Modeling the Soft Magnetic Cathetermentioning

confidence: 99%