A Magnetically Controlled Guidewire Robot System with Steering and Propulsion Capabilities for Vascular Interventional Surgery

Magnetically manipulated interventional robotic systems offer outstanding advantages for improving vascular interventions, including minimizing radiation exposure to physicians and increasing the controllability of magnetic devices in hard‐to‐reach vessels. However, automatic control guidewires (MGs) is still challenging terms modeling trajectory planning. Herein, a magnetically controlled guidewire system (MCGRS) with steering propulsion capabilities proposed based on adequate planning methods. The kinematics MG first modeled by constant curvature theory. Then, continuum mechanics model built predict deformation tip combining dipole Cosserat‐rod model. Moreover, algorithm developed navigate through Furthermore, following experiments within three phantoms confirm that are reliable capable navigating desired trajectory. Finally, two extra navigation implemented 3D phantom, which show MCGRS can be remotely manipulate actively steer reach target site. methods will build foundation help improve autonomy.