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Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot.
Nancy J Deaton1, Timothy A Brumfiel1, Achraj Sarma1
1Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA.
IEEE Robotics and Automation Letters
|January 25, 2024
Summary
This study introduces a steerable guidewire robot for improved navigation in cardiovascular procedures. It achieves precise tip control through 3D shape reconstruction and force sensing, enhancing safety and efficacy.
Area of Science:
- Robotics
- Biomedical Engineering
- Medical Devices
Background:
- Minimally invasive cardiovascular procedures rely on guidewire navigation.
- Navigating tortuous vessels is challenging, risking vessel damage.
- Precise guidewire tip control is crucial for procedural safety.
Purpose of the Study:
- To enhance guidewire navigation in cardiovascular procedures.
- To develop 3D shape reconstruction and tip force sensing capabilities.
- To improve the precision and safety of guidewire-assisted interventions.
Main Methods:
- Developed the COaxially Aligned STeerable (COAST) guidewire robot.
- Integrated a triplet of fiber Bragg grating sensors for shape sensing.
- Implemented and compared several 3D shape reconstruction algorithms.
- Utilized shape measurements for enabling tip force sensing.
Main Results:
- Achieved accurate 3D shape reconstruction of the guidewire robot.
- Demonstrated average shape reconstruction errors below at the tip.
- Enabled estimation of applied tip forces with RMSE below .
Conclusions:
- The COAST guidewire robot offers enhanced control for minimally invasive procedures.
- 3D shape reconstruction and tip force sensing improve navigation accuracy.
- This technology has the potential to reduce complications in cardiovascular interventions.
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