Placement of catheters in minimally invasive cardiovascular procedures is preceded by navigating to the target lesion with a guidewire. Traversing through tortuous vascular pathways can be challenging without precise tip control, potentially resulting damage or perforation blood vessels. To improve guidewire navigation, this letter presents 3D shape reconstruction and force sensing for <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CO</u>...

Many intravascular procedures are prefaced by the placement of a slender wire called guidewire. Steering these guidewires is met with challenges in controlling distal end along possibility damaging vessel walls, or even perforation, which can be fatal. To this end, utilizing robotic improve steerability and enable force feedback through intrinsic sensing. Enabling sensing contains such as discrete sensor placements continuous structures non-unique distributions for given deflection. In work,...

Single-port surgical robots have gained popularity due to less patient trauma and quicker post-surgery recovery. However, limited access provided by a single incision, the miniaturization maneuverability of these still needs be improved. In this paper, we propose design single-port, dual-arm robotically steerable endoscope containing one major cannula two minor cannulas. By integrating proposed nine degrees-of-freedom (DoFs) with an industrial robotic arm joystick controller, system can...

Manual guidewire navigation and placement for minimally invasive surgeries suffer from technical challenges due to imprecise tip motion control traverse highly tortuous vasculature. Robotically steerable guidewires can address these by actuating a compliant through multiple degrees-of-freedom maneuvering vascular pathways. In this paper, we detail the kinematic mapping of COaxially Aligned STeerable (COAST) robot that is capable executing follow-the-leader in three dimensional We also...

Steerable needles are desired for many applications within the medical field. One such application is high-dose rate (HDR) brachytherapy. In this paper, an adaptive control system proposed to provide of planar bending angle or deflection distance a tendon-driven continuum joint, which can be inserted as stylet in commercial hollow needle HDR Proportional–integral–derivative (PID) controllers common method control. However, significant tuning may required achieve dynamic response, and tuned...

Atherosclerosis is a medical condition that causes buildup of plaque in the blood vessels and narrowing arteries. Surgeons often treat this through angioplasty with catheter placements. Continuum guidewire robots offer significant advantages for placements due to their dexterity. Tracking these surrounding workspace under fluoroscopy real-time can be useful visualization accurate control. This paper discusses algorithms methods track shape orientation workspaces phantom vasculatures C-arm...

Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and lack precise tip control. Steerable guidewire systems have been developed with tendon-driven, magnetic, concentric tube actuation strategies to enable control, however, selecting machining parameters for such robots does not strict procedure. In this paper, we develop systematic design procedure pairs COaxially Aligned STeerable (COAST) robot. This...

Cardiovascular diseases are the leading cause of death globally and surgical treatments for these often begin with manual placement a long compliant wire, called guidewire, through different vasculature. To improve procedure outcomes reduce radiation exposure, we propose steps towards fully automated approach steerable guidewire navigation within vessels. In this paper, utilize fluoroscopic images to reconstruct 3-D printed phantom vasculature models by using shape-from-silhouette algorithm....

Minimally invasive procedures can benefit greatly from the development of flexible and steerable devices such as robotic guidewires catheters well endoscopic tools. Such could provide clinicians with increased dexterity offer measurements contact forces through their ability to perform intrinsic force sensing. In this paper, we evaluate sensing capabilities at tip a 2 degree-of-freedom, meso-scale continuum robot an outer diameter 1.93 mm. An external tendon setup is designed used estimate...

Minimally invasive procedures, such as endoscopic third ventriculostomy (ETV), benefit from the increased dexterity and safety that surgical continuum robots can bring. However, due to their natural compliance, new compatible end-effectors, graspers or scissors, must be developed actuation considered when developing robotic structures in which they are housed inherent coupling will introduced. In this paper, we integrate a tendon-driven meso-scale grasper, with closed configuration diameter...

Peripheral arterial disease is one of the most prevalent cardiovascular diseases; its treatment often catheter-based and requires surgeon to manually navigate a guidewire affected region within artery, usually with fluoroscopic images. It extensive skill experience target location delays can cause increased radiation exposure surgeon. To overcome these challenges, we propose fully automated approach perform navigation COaxially Aligned STeerable (COAST) under imaging in 2D phantom models. We...

Peripheral vascular intervention remains a challenging procedure mainly due to the tortuosity of vessels needing be traversed by guidewires and catheters. In addition, handling long while navigating tortuous vasculature requires extensive time skill from surgeon. this work, compact guidewire advancement mechanism is proposed that able dispense up 150 cm in length. The adapted actuate prototype modified COaxially Aligned STeerable (COAST) robot perform follow-the-leader (FTL) motion. design...

Peripheral artery disease (PAD) affects more than 200 million people globally. Minimally invasive endovascular procedures can provide relief and salvage limbs while reducing injury rates recovery times. Unfortunately, when a calcified chronic total occlusion is encountered, ~25% of fail due to the inability advance guidewire using view provided by fluoroscopy. To enable sub-millimeter, robotically steerable cross these occlusions, novel single-element, dual-band transducer developed that...

BACKGROUND AND OBJECTIVES: To improve the outcomes of minimally invasive, endoscopic, intracranial procedures, steerable robotic tools have been developed but still require thorough evaluation before use in a clinical setting. This paper compares novel neuroendoscope tool against standard rigid tool. METHODS: Seventeen participants, 8 nonmedical and 9 medical (neurosurgery residents fellows), were recruited. The trial consisted task that was completed using either or tool, followed by...

A chronic total occlusion (CTO) is a complete blockage that impedes blood flow in the coronary artery. Minimally invasive procedures for treating CTOs typically involve manually steering guidewire to occlusion. However, navigating throughout arteries can be challenging due bifurcations and narrow vessels. This paper introduces novel robotic design specifically engineered navigate aortic bifurcation, into peripheral branches of right common iliac We present detailed description outline...

Presents corrections to the article “Model-Based Design of COAST Guidewire Robot for Large Deflection.

More than 200 million people have peripheral artery disease globally. Minimally-invasive revascularization procedures can relieve pain, improve mobility, and salvage limbs. To navigation in these procedures, a transducer operating at two frequencies requiring only single cable was developed to provide forward-viewing imaging with high resolution close the penetration farther from for planning trajectory of submillimeter, robotically-steerable guidewire. For prototypes, center transducers...