Dual Active Tilted Roller Actuation System (DATRAS) with an electromagnetic actuation system for vascular intervention

Abstract

This paper presents DATRAS (Dual Active Tilted Roller Actuation System), a compact robotic system for vascular interventions that integrates with electromagnetic actuation systems to enable complete teleoperation. DATRAS combines translation and rotation motion for intervention tools in a single module, simplifying design and control. The system also allows easy roller adjustment for various tool diameters and enables guidewire helical motion without additional components or specialized guidewires. Experimental validation using cerebrovascular and cardiovascular phantoms demonstrates DATRAS’s effectiveness in controlling magnetic tip guidewire motion when combined with electromagnetic actuation. Weighing just 320 g, this lightweight device aims to enhance interventional procedures by facilitating easy manipulation of instruments through teleoperation. The actuator addresses current limitations in robotic intervention systems, exhibiting a potential reduction in radiation exposure and ergonomic risks for medical professionals, ultimately improving the efficacy of vascular interventions.