The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications

Christoff M. Heunis, Yannik Paul Wotte, Jakub Sikorski, Guilherme Phillips Furtado, Sarthak Misra

Research output: Contribution to journalArticleAcademicpeer-review

47 Citations (Scopus)
43 Downloads (Pure)


Positioning conventional endovascular catheters is not without risk, and there is a multitude of complications that are associated with their use in manual surgical interventions. By utilizing surgical manipulators, the efficacy of remote-controlled catheters can be investigated in vivo. However, technical challenges, such as the duration of catheterizations, accurate positioning at target sites, and consistent imaging of these catheters using non-hazardous modalities, still exist. In this paper, we propose the integration of multiple sub-systems in order to extend the clinical feasibility of an autonomous surgical system designed to address these challenges. The system handles the full synchronization of co-operating manipulators that both actuate a clinical tool. The experiments within this study are conducted within a clinically-relevant workspace and inside a gelatinous phantom that represents a life-size human torso. A catheter is positioned using magnetic actuation and proportional-integral (PI) control in conjunction with real-time ultrasound images. Our results indicate an average error between the tracked catheter tip and target positions of 2:09 0:49
mm. The median procedure time to reach targets is 32:6 s. We expect that our system will provide a step towards collaborative manipulators employing mobile electromagnets, and possibly improve autonomous catheterization procedures within endovascular surgeries.
Original languageEnglish
Article number8954825
Pages (from-to)705-712
Number of pages8
JournalIEEE Robotics and automation letters
Issue number2
Publication statusPublished - 9 Jan 2020


  • Medical robots and systems
  • surgical robotics: planning
  • surgical robotics: steerable catheters/needles
  • 22/2 OA procedure


Dive into the research topics of 'The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications'. Together they form a unique fingerprint.

Cite this