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Feasibility study on magnetically steerable guidewire device for percutaneous coronary intervention

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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).

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering at Chonnam National University and Daegu-Gyeongbuk Medical Innovation Foundation (DGMIF), Cheombok-ro 80, Dong-gu, Daegu, 701-310, Korea

    Semi Jeong

  2. School of Mechanical Engineering, Chonnam National University, Gwangju, 500-757, Korea

    Hyunchul Choi, Gwangjun Go, Cheong Lee, Seong Young Ko & Jong-Oh Park

  3. School of Mechanical Engineering, Chonnam National University, Gwangju, 500-757, Korea

    Sukho Park

  4. Department of Robotics Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu, 711-873, Korea

    Sukho Park

Authors
  1. Semi Jeong
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  2. Hyunchul Choi
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  3. Gwangjun Go
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  4. Cheong Lee
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  5. Seong Young Ko
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  6. Jong-Oh Park
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  7. Sukho Park
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Corresponding authors

Correspondence to Jong-Oh Park or Sukho Park.

Additional information

Recommended by Associate Editor Yangmin Li under the direction of Editor Fuchun Sun. This research was supported by NSL (National Space Lab) program through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology (2014034793).

Semi Jeong received her B.S. (2005) and M.S. (2007) degrees from department of mechanical engineering at Wonkwang University, Korea and Ph.D. (2013) degree from the department of mechanical engineering at Chonnam National University, Korea. From 2007 to 2015, she worked as a researcher in Robot Research Initiative (RRI), Gwangju, Korea. Currently, she is a researcher in Daegu-Gyeongbuk Medical Innovation Foundation (DGMIF), Daegu, Korea. Her research interests are micro actuators and medical robots.

Hyunchul Choi received his B.S. (2008), M.S. (2010) and Ph.D. (2014) degrees from the department of mechanical engineering at Chonnam National University, Korea. Currently, he is researcher in Robot Research Initiative (RRI). His research interests are micro actuators and microrobots.

Gwangjun Go received his B.S. (2013) and M.S. (2015) degrees from the Department of Mechanical Engineering at Chonnam National University, Korea. Currently, he is a Ph.D. candidate in Chonnam National University and researcher in Robot Research Initiative (RRI).

Cheong Lee received his B.S. (2012) and M.S. (2014) degrees from the Department of Mechanical Engineering at Chonnam National University, Korea. Currently, he is a Ph.D. candidate in Chonnam National University and researcher in Robot Research Initiative (RRI). His research interests are microrobot and medical robot.

SeongYoung Ko received his B.S., M.S., and Ph.D. degrees from the Department of Mechanical Engineering at Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2000, 2002, and 2008, respectively. In 2008, he was a post-doctoral researcher in the Department of Electrical Engineering, KAIST, Korea, and from 2009 to 2011, he was a research associate in the Mechatronics- In-Medicine Laboratory, the Department of Mechanical Engineering, Imperial College London, UK. From October 2011, he is now an associate professor in the School of Mechanical Systems Engineering, Chonnam National University, Gwangju, Korea. His research interests include medical robotics, human-robot interaction and intelligent.

Jong-Oh Park received his B.S. (1978) and M.S. (1981) degrees from the department of mechanical engineering, Korea and his Ph.D. (1987) in robotics from Stuttgart University, Germany. From 1982 to 1987, he worked as a guest researcher Fraunhofer-Gesellschaft Institut fur Produktionstechnik und Automatisierung (FhG IPA), Germany. He worked as a principal researcher in Korea Institute of Science and Technology (KIST) from 1987 to 2005 and he was a director of Microsystem Research Center in KIST from 1999 to 2005. In 2005, he moved to Chonnam National University where he is now a full professor of the department of mechanical system engineering and a director of robot research initiative (RRI). His research interests are biomedical microrobots, medical robots and service robots.

Sukho Park received his B.S. (1993), M.S. (1995) and Ph.D. (2000) degrees in mechanical engineering from Korea Advanced Institute of Science and Technology (KAIST), Korea. From 2000 to 2004, he worked as a senior research engineer at LG Electronics Production Research Center, Korea. From 2004 to 2006, he worked as a senior researcher of Microsystem Research Center in Korea Institute of Science and Technology (KIST). In 2006, he moved to Chonnam National University where he is now a professor of the department of mechanical system engineering and a section head of robot research initiative (RRI). His research interests are microactuator/robot and micromanipulation for biomedical instrumental applications.

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Jeong, S., Choi, H., Go, G. et al. Feasibility study on magnetically steerable guidewire device for percutaneous coronary intervention. Int. J. Control Autom. Syst. 15, 473–479 (2017). https://doi.org/10.1007/s12555-015-0269-7

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  • DOI: https://doi.org/10.1007/s12555-015-0269-7

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