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

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

Research output: Contribution to journalArticleAcademicpeer-review

7 Citations (Scopus)


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
Pages (from-to)705-712
JournalIEEE Robotics and automation letters
Issue number2
Publication statusPublished - 1 Apr 2020


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