Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot

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 in the damage or perforation of blood vessels. T...

Full description

Saved in:
Bibliographic Details
Published in:IEEE robotics and automation letters 2023-06, Vol.8 (6), p.3725-3731
Main Authors: Deaton, Nancy J., Brumfiel, Timothy A., Sarma, Achraj, Desai, Jaydev P.
Format: Article
Language:English
Subjects:
Algorithms
Blood vessels
Bragg gratings
compliant joints and mechanisms
Electron tubes
Fiber gratings
Force
Reconstruction
Robot sensing systems
Robots
Sensors
Shape
Tendon/wire mechanism
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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 in the damage or perforation of blood vessels. To improve guidewire navigation, this letter presents 3D shape reconstruction and tip force sensing for the CO axially A ligned ST eerable (COAST) guidewire robot using a triplet of adhered single core fiber Bragg grating sensors routed centrally through the robot's slender structure. Additionally, several shape reconstruction algorithms are compared, and shape measurements are utilized to enable tip force sensing. Demonstration of the capabilities of the robot is shown in free air where the shape of the robot is reconstructed with average errors less than 2 mm at the guidewire tip, and the magnitudes of forces applied to the tip are estimated with an RMSE of 0.027 N or less.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2023.3267008