Accurate modeling and positioning of a magnetically controlled catheter tip

Abstract

The ability of the developed mathematical model in predicting the displacement, direction, and deflection of the catheter tip as a function of the electromagnet current values has been verified through experimental results.

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

“…Magnetic actuation and steering systems have been incorporated in various applications, such as the use of catheters as scanning instruments for optical imaging techniques [86], assisting in the placement accuracy of coronary stents [87], and the use of catheter ablation (with force sensing catheter tips) for the treatment of symptomatic atrial fibrillation [88]. Other studies have also demonstrated the use of radio-frequency ablation magnetic catheters [31], precise and reproducible catheter manipulation for endocardial mapping [77], and endovascular navigation [23]. The findings of magnetic actuation have improved the study of electrophysiology for diagnostic and therapeutic purposes [89], [90], as well as automatic angle adjustment and pointing [91], [92].…”

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

“…This ferromagnetic material is widely utilized in catheter designs because it has strong magnetization, making it an excellent candidate for steering catheter tips [29]. Studies using both electromagnets [30], [31] and permanent magnets [32] for passive actuation have utilized Nd-Fe-B magnets in their catheter models, although the majority has implemented single magnetic components. Recently, Edelmann et al [33] demonstrated the modeling of different catheter geometries with multiple magnetic components and various boundary constraints.…”

Sensorless Estimation of the Planar Distal Shape of a Tip-Actuated Endoscope

“…T HE use of magnetic fields for medical robot actuation has been demonstrated for applications in gastroenterology, opthamology, otolaryngology, and cardiology [1], [2]. Magnetic actuation has been used to control devices with [3] and without [4] a tether, as well as continuum devices that include flexible endoscopes, needles, catheters, and robots [5]- [8]. The modelling of continuum devices has been thoroughly investigated where kinematic or mechanics-based computations rely on computing the configuration of a device given a known robot base, e.g.…”

“…physical point where robot is at least partially constrained, and applied loads [9]- [12]. Similar methods have been applied for continuum devices that rely on magnetic fields for actuation [5], [6], [13].…”