Design, Modeling and Control of a 2-DoF Robotic Guidewire

Yash Chitalia1, Xuefeng Wang1, Jaydev Desai1

  • 1Georgia Institute of Technology

Details

Category

Interactive Session

Sessions

10:30 - 13:00 | Tue 22 May | podA | TuA@A

Medical Robots - Needles + Catheters

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Abstract

In most cases of peripheral arterial disease (PAD), the operating surgeon must use a variety of catheters riding on a thin wire known as a ‘guidewire’. This guidewire must be manually navigated through a tortuous pathway of arteries to arrive at the diseased area. Automation of the guidewire therefore reduces surgeon effort and minimizes the time required for a PAD procedure, but is restricted by the size constraints of a standard guidewire. This work presents the design of a robotically actuated 2 degree-of-freedom (DoF) guidewire tip comprised of joints laser micro-machined into a 0.78 mm (< 2.4 Fr) Nitinol tube. We present an analysis of the notch joint used as a building block in the robot and a control strategy for this type of a joint. The experimental results show that tendon force is an important observable quantity that can be used as a shape sensing mechanism for this type of a joint in practical control applications.

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Summary

(top) Schematic and (bottom) image of guidewire with notch joint

  • A micro-scale multi-DoF robotic guidewire tip is designed
  • The guidewire tip is designed by machining asymmetric notch joints into a 0.78 mm Nitinol tube
  • Tendon force-joint curvature relationships, as well as friction and inter-joint coupling effects are modeled
  • Using these models, a controller using tendon-force feedback for shape estimation is designed and tracking performance is demonstrated