Feasibility study on magnetically steerable guidewire device for percutaneous coronary intervention

• Published in: International journal of control, automation, and systems Vol. 15; no. 1; pp. 473 - 479
• Main Authors: Jeong, Semi, Choi, Hyunchul, Go, Gwangjun, Lee, Cheong, Ko, Seong Young, Park, Jong-Oh, Park, Sukho
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.02.2017; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Alignment; Angioplasty; Blood vessels; Catheters; Coils; Control; Control algorithms; Coronary vessels; Devices; Engineering; Experiments; Extrusion; Feasibility studies; Feeding; Magnetic fields; Magnetic resonance imaging; Mechanical engineering; Mechatronics; Medical device industry; Radiation; Robotics; Steering; Steering systems; Studies; Technical Notes and Correspondence; 제어계측공학; Catheter; magnetic steering system; percutaneous coronary intervention; uniform magnetic field; guidewire
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-015-0269-7

In this paper, we proposed a magnetically steerable guidewire device composed of two parts: steering part and feeding part. The steering part consists of a magnet attached to the end of a commercial guidewire and 2-pair Helmholtz coils, and the feeding part consists of a motorized stage and a device for holding the guidewire. In detail, the 2-pair Helmholtz coils generate a uniform magnetic field that can align the guidewire magnet in the region of interest (ROI) along a desired direction. In addition, the feeding part remotely controls guidewire insertion and the length of the flexible part of the guidewire extruded from a catheter. For accurate alignment at the end of the guidewire, we controlled the flexible length of the guidewire extruded from a catheter and the intensity and direction of the uniform magnetic field using the feed-forward method. In addition, to reduce alignment error due to unpredicted disturbances and friction effects between the test-bed and the guidewire, proportional-integralderivative control is introduced as a feedback control algorithm. Using the control algorithms, we demonstrated accurate actuation of the steerable guidewire device with a steering angle error of less than 0:5◦. We expect that the proposed steerable guidewire device can be applied to the development of a 3-D locomotive guidewire with position recognition for percutaneous coronary intervention (PCI).