Model-based Design of the COAST Guidewire Robot for Large Deflection.
IEEE Robot Autom Lett
; 8(9): 5345-5352, 2023 Sep.
Article
em En
| MEDLINE
| ID: mdl-37614723
ABSTRACT
Minimally invasive endovascular procedures involve the manual placement of a guidewire, which is made difficult by vascular tortuosity and the lack of precise tip control. Steerable guidewire systems have been developed with tendon-driven, magnetic, and concentric tube actuation strategies to enable precise tip control, however, selecting machining parameters for such robots does not have a strict procedure. In this paper, we develop a systematic design procedure for selecting the tube pairs of the COaxially Aligned STeerable (COAST) guidewire robot. This includes the introduction of a mechanical model that accounts for micromachining-induced pre-curvatures with the goal of determining design parameters that reduce combined distal tip pre-curvature and minimize abrupt changes in actuated tip position for the COAST guidewire robot through selection of the best flexural rigidity between the tube pairs. We present adjustments in the kinematics modeling of COAST robot tip bending motion, and use these to characterize the bending behavior of the COAST robot for varying geometries of the micromachined tubes, with an average RMSE value for the tip position error of 0.816 mm in the validation study.
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01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
IEEE Robot Autom Lett
Ano de publicação:
2023
Tipo de documento:
Article
País de afiliação:
Estados Unidos
País de publicação:
EEUU
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ESTADOS UNIDOS
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ESTADOS UNIDOS DA AMERICA
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EUA
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UNITED STATES
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UNITED STATES OF AMERICA
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US
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USA