ArticleIEEE robotics and automation letters2023
Model-based Design of the COAST Guidewire Robot for Large Deflection.
Article in IEEE robotics and automation letters, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed.
- A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons.IEEE transactions on medical robotics and bionics · 2026Article
- Towards a Tendon-Driven Robotically Steerable Guidewire with a Retractable Distal Balloon.IEEE robotics and automation letters · 2025Article
- Shared Experiences With Guidewire Application in Chronic Total Occlusion: Technological Advances and Clinical Implications.Reviews in cardiovascular medicine · 2025Review
- A variable stiffness robotically steerable guidewire for endovascular interventions.npj Robotics · 2025Article
- Model-based Parameter Selection for a Steerable Continuum Robot - Applications to Bronchoalveolar Lavage (BAL).IEEE robotics and automation letters · 2025Article
- Design, analysis, and demonstration of the COAST guidewire robot with middle tube rotation for endovascular interventions.Scientific reports · 2024Article
- Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot.IEEE robotics and automation letters · 2024Article
- Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot.IEEE transactions on medical robotics and bionics · 2024Article
Corrections and comments
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Authors and funding
7 authors.
Funding
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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Registered trials
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