|Feasibility Study on Magnetically Steerable Guidewire Device for Percutaneous Coronary Intervention
Semi Jeong, Hyunchul Choi, Gwangjun Go, Cheong Lee, Seong Young Ko, Jong-Oh Park*, and Sukho Park*
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.473-479, 2017
Abstract : "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)."
"Catheter, guidewire, magnetic steering system, percutaneous coronary intervention, uniform magnetic field."
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