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Magnetically-Assisted Remote Controlled Microcatheter Tip Deflection under Magnetic Resonance Imaging

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Self-Steering Catheters for Neuroendovascular Interventions.

Colette Abah¹, Jared P Lawson¹, Rohan Chitale²

¹Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235 USA.

IEEE Transactions on Medical Robotics and Bionics

|July 11, 2025

Summary

A new robotic catheter offers enhanced precision and safety for navigating complex neurovasculature. This technology aims to improve semi-automation in neuroendovascular procedures, reducing risks and improving outcomes.

Keywords:

Robotic catheters endovascular surgery medical robotics self-steering

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Area of Science:

Medical Robotics
Biomedical Engineering
Neurosurgery

Background:

Existing robotic systems face limitations in navigating the intricate and tortuous neurovasculature.
Safety in neuroendovascular procedures necessitates fail-safe designs with passive compliance for lateral load sensing.

Purpose of the Study:

To introduce a novel multi-articulated robotic catheter technology for neuroendovascular procedures.
To enhance technical precision, reduce procedure time, and minimize radiation exposure.
To enable semi-automation of catheter navigation.

Main Methods:

Design and kinematic modeling of a multi-articulated robotic catheter with joint-level sensing.
Implementation and experimental validation of a multi-mode real-time control architecture.
Development of algorithms for intra-operative catheter tracking and pose filtering.

Main Results:

The robotic catheter actively bends in two planes using series-elastic actuation for safety and active compliance.
Demonstrated capabilities include branch selection, autonomous insertion in unknown channels, and deployment in a 2D vasculature model.
Validated algorithms for real-time catheter tracking and pose filtering.

Conclusions:

The developed robotic catheter technology represents a significant advancement for neuroendovascular procedures.
The system's active compliance and joint-level sensing contribute to increased safety and precision.
This work paves the way for semi-autonomous navigation in neuroendovascular interventions.