TY - JOUR
T1 - Concentric Tube-Inspired Magnetic Reconfiguration of Variable Stiffness Catheters for Needle Guidance
AU - Richter, Michiel
AU - Kalpathy Venkiteswaran, Venkatasubramanian
AU - Misra, Sarthank
N1 - Funding Information:
This work was supported by the European Research Council through the European Union's Horizon 2020 Research and Innovation Programme under Grant 866494 Project - MAESTRO.
Publisher Copyright:
© 2016 IEEE.
PY - 2023/10/1
Y1 - 2023/10/1
N2 - Guiding catheters assist in delivering hazardous equipment such as needles through non-solid mediums likecavities and vasculature. Traditionally, metallic needles are passed through metallic guiding catheters, which are limited to linear paths or require anatomy-specific designs. Recently, variable stiffnessactive guiding catheters (AGCs) made of shape memory polymers have been developed. These AGCs can adapt to anatomy and guide equipment in their rubber and glass phases, respectively. However, passing needles can cause deflectionof the AGC and misalignment with the target. To address this, magnetic configuration of AGCs based on concentric-tube models is proposed to compensate for needle-induced AGC deflection. Experiments demonstrate shape configuration of AGCs using magnetic fields computed pre-experimentally, followed by needle guidance to three different targets. The results show AGC deflection of up to 69∘ and needle-induced backward deflection up to 39∘ , with a maximum target misalignment of 4∘
AB - Guiding catheters assist in delivering hazardous equipment such as needles through non-solid mediums likecavities and vasculature. Traditionally, metallic needles are passed through metallic guiding catheters, which are limited to linear paths or require anatomy-specific designs. Recently, variable stiffnessactive guiding catheters (AGCs) made of shape memory polymers have been developed. These AGCs can adapt to anatomy and guide equipment in their rubber and glass phases, respectively. However, passing needles can cause deflectionof the AGC and misalignment with the target. To address this, magnetic configuration of AGCs based on concentric-tube models is proposed to compensate for needle-induced AGC deflection. Experiments demonstrate shape configuration of AGCs using magnetic fields computed pre-experimentally, followed by needle guidance to three different targets. The results show AGC deflection of up to 69∘ and needle-induced backward deflection up to 39∘ , with a maximum target misalignment of 4∘
KW - 2024 OA procedure
U2 - 10.1109/LRA.2023.3307294
DO - 10.1109/LRA.2023.3307294
M3 - Article
SN - 2377-3766
VL - 8
SP - 6555
EP - 6562
JO - IEEE Robotics and automation letters
JF - IEEE Robotics and automation letters
IS - 10
ER -