ArticleIEEE robotics and automation letters2024
Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot.
Article in IEEE robotics and automation letters, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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Who cites it
1 citing paper in PubMed.
- A variable stiffness robotically steerable guidewire for endovascular interventions.npj Robotics · 2025Article
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Authors and funding
4 authors.
Funding
Abstract
The treatment of many intravascular procedures begins with a clinician manually placing a guidewire to the target lesion to aid in placing other devices. Manually steering the guidewire is challenging due to the lack of direct tip control and the high tortuosity of vessel structures, potentially resulting in vessel perforation or guidewire fracture. These challenges can be alleviated through the use of robotically steerable guidewires that can improve guidewire tip control, provide force feedback, and, similar to commercial guidewires, are inherently safe due to their compliant structure. However, robotic guidewires are not yet clinically viable due to small robot lengths or large actuation systems. In this paper, we develop a highly compact spooling mechanism for the COaxially Aligned STeerable (COAST) guidewire robot, capable of dispensing a clinically viable length of 1.5 m of the robotic guidewire. The mechanism utilizes a spool with several interior armatures to actuate each component of the COAST guidewire. The kinematics of the robotic guidewire are then modeled considering additional friction forces caused by interactions within the mechanism. The actuating mechanisms of the compact spooling mechanism are calibrated and the kinematics of the guidewire are validated resulting in an average curvature RMSE of 0.24 m
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