ArticleIEEE robotics and automation letters2020
Design, Modeling, and Control of a Coaxially Aligned Steerable (COAST) Guidewire Robot.
Article in IEEE robotics and automation letters, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 25 papers.
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Who cites it
25 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
- Magnetic Control of Intravascular Collaborative Robotic (Cobot) Guidewire: Neurovascular Intervention Studies in Phantom and Swine Models.Advanced healthcare materials · 2026Article
- Concentric Tube Robot-Assisted Intracerebral Hemorrhage Evacuation: Validation in an Ovine Model.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
- Enhancing Grasping Function with a Thermoresponsive Ionogel Adhesive Glove for Patients with Rheumatic Diseases.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- 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
- Development of a single port dual arm robotically steerable endoscope for neurosurgical applications.npj Robotics · 2025Article
- Design, analysis, and demonstration of the COAST guidewire robot with middle tube rotation for endovascular interventions.Scientific reports · 2024Article
- Self-Steering Catheters for Neuroendovascular Interventions.IEEE transactions on medical robotics and bionics · 2024Article
- Design and Modeling of a Compact Spooling Mechanism for the COAST Guidewire Robot.IEEE robotics and automation letters · 2024Article
- 2D array imaging system for mechanically-steered, forward-viewing ultrasound guidewire.Ultrasonics · 2024Article
- Article
- Towards a Robotically Steerable Laser Ablation Probe.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2024Article
- Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot.IEEE transactions on medical robotics and bionics · 2024Article
- A Model to Predict Deflection of an Active Tendon-Driven Notched Needle Inside Soft Tissue.Journal of engineering and science in medical diagnostics and therapy · 2024Article
- A Telescopic Tendon-Driven Needle Robot for Minimally Invasive Neurosurgery.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- Model-based Design of the COAST Guidewire Robot for Large Deflection.IEEE robotics and automation letters · 2023Article
- Simultaneous Shape and Tip Force Sensing for the COAST Guidewire Robot.IEEE robotics and automation letters · 2023Article
- Real-time Pose Tracking for a Continuum Guidewire Robot under Fluoroscopic Imaging.IEEE transactions on medical robotics and bionics · 2023Article
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Authors and funding
3 authors.
Funding
Abstract
Manual navigation of a guidewire is the first step in endovascular interventions. However, this procedure is time consuming with uncertain results due to tortuous vascular anatomy. This paper introduces the design of a novel COaxially Aligned STeerable (COAST) guidewire robot that is 0.40 mm in diameter demonstrating variable curvature and independently controlled bending length of the distal end. The COAST design involves three coaxially aligned tubes with a single tendon running centrally through the length of robot. The outer tubes are made from micromachined nitinol allowing for tendon-driven bending of the robot at various segments of the robot, thereby enabling variable bending curvatures, while an inner stainless steel tube controls the bending length of the robot. By varying relative positions of the tubes and the tendon by insertion and retraction in the entire assembly, various joint lengths and curvatures can be achieved, which enables a follow-the-leader motion. We model the kinematics, statics, as well as the coupling within tubes of the COAST robot and develop a simple controller to control the distal tip of the robot. Finally, we experimentally demonstrate the ability of COAST guidewire to accurately navigate through phantom anatomical bifurcations and tortuous anatomy.
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Registered trials
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