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Feasibility study on magnetically steerable guidewire device for percutaneous coronary intervention
- Feasibility study on magnetically steerable guidewire device for percutaneous coronary intervention
- Jeong, S.[Jeong, Se Mi]; Choi, H.[Choi, Hyun Chul]; Go, G.[Choi, Hyun Chul]; Lee, C.[Lee, Cheong]; Ko, S.Y.[Ko, Seong Young]; Park, J.-O.[Park, Jong Oh]; Park, S. H.[Park, Suk Ho]
- DGIST Authors
- Park, S. H.[Park, Suk Ho]
- Issue Date
- International Journal of Control, Automation and Systems, 15(1), 473-479
- Article Type
- Article in Press
- Catheter; Catheters; Feed-Forward Methods; Feeding; Flexible Structures; Guide-Wire; Guidewire; Image Segmentation; Magnetic Fields; Magnetic Steering; Magnetic Steering System; Magnetism; Magnets; Percutaneous Coronary Intervention; Position Recognition; Steering Angle Error; The Region of Interest (ROI); Uniform Magnetic Field; Uniform Magnetic Fields
- In this paper, we proposed a magnetically steerable guidewire device composed of two parts: steering part and feeding part. The steering part consists of a magnet attached to the end of a commercial guidewire and 2-pair Helmholtz coils, and the feeding part consists of a motorized stage and a device for holding the guidewire. In detail, the 2-pair Helmholtz coils generate a uniform magnetic field that can align the guidewire magnet in the region of interest (ROI) along a desired direction. In addition, the feeding part remotely controls guidewire insertion and the length of the flexible part of the guidewire extruded from a catheter. For accurate alignment at the end of the guidewire, we controlled the flexible length of the guidewire extruded from a catheter and the intensity and direction of the uniform magnetic field using the feed-forward method. In addition, to reduce alignment error due to unpredicted disturbances and friction effects between the test-bed and the guidewire, proportional-integralderivative control is introduced as a feedback control algorithm. Using the control algorithms, we demonstrated accurate actuation of the steerable guidewire device with a steering angle error of less than 0:5◦. We expect that the proposed steerable guidewire device can be applied to the development of a 3-D locomotive guidewire with position recognition for percutaneous coronary intervention (PCI). © 2016, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.
- Institute of Control, Robotics and Systems
- Related Researcher
Multiscale Biomedical Robotics Laboratory
Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
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- Department of Robotics EngineeringMultiscale Biomedical Robotics Laboratory1. Journal Articles
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