Kinematic Modeling and Jacobian-Based Control of the COAST Guidewire Robot
Achraj Sarma, Timothy A. Brumfiel, Yash Chitalia, Jaydev P. Desai
Abstract
Manual guidewire navigation and placement for minimally invasive surgeries suffer from technical challenges due to imprecise tip motion control to traverse highly tortuous vasculature. Robotically steerable guidewires can address these challenges by actuating a compliant tip through multiple degrees-of-freedom for maneuvering through vascular pathways. In this paper, we detail the kinematic mapping of a <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CO</u> axially <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">A</u> ligned <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ST</u> eerable (COAST) guidewire robot that is capable of executing follow-the-leader motion in three dimensional vascular pathways. We also develop an analytical Jacobian model to perform velocity kinematics for the robot and finally, we implement Jacobian-based control to demonstrate follow-the-leader motion of the guidewire in free space, within 3D-printed phantoms, and within ex vivo animal vasculature.