Cargando…

Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment

In this paper, we propose a method of identifying the position of a tethered delivery catheter in a vascular environment, recombining an untethered magnetic robot (UMR) to the tethered delivery catheter, and safely retrieving them from the vascular environment in an endovascular intervention by util...

Descripción completa

Detalles Bibliográficos
Autores principales: Lee, Serim, Kim, Nahyun, Kwon, Junhyoung, Jang, Gunhee
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10143211/
https://www.ncbi.nlm.nih.gov/pubmed/37420957
http://dx.doi.org/10.3390/mi14040724
_version_ 1785033797705662464
author Lee, Serim
Kim, Nahyun
Kwon, Junhyoung
Jang, Gunhee
author_facet Lee, Serim
Kim, Nahyun
Kwon, Junhyoung
Jang, Gunhee
author_sort Lee, Serim
collection PubMed
description In this paper, we propose a method of identifying the position of a tethered delivery catheter in a vascular environment, recombining an untethered magnetic robot (UMR) to the tethered delivery catheter, and safely retrieving them from the vascular environment in an endovascular intervention by utilizing a separable and recombinable magnetic robot (SRMR) and a magnetic navigation system (MNS). From images of a blood vessel and a tethered delivery catheter taken from two different angles, we developed a method of extracting the position of the delivery catheter in the blood vessel by introducing dimensionless cross-sectional coordinates. Then, we propose a retrieval method for the UMR by using the magnetic force considering the delivery catheter’s position, suction force, and rotating magnetic field. We used thane MNS and feeding robot to simultaneously apply magnetic force and suction force to the UMR. In this process, we determined a current solution for generating magnetic force by using a linear optimization method. Finally, we conducted in vitro and in vivo experiments to verify the proposed method. In the in vitro experiment, which was in a glass tube environment, by using an RGB camera, we confirmed that the location of the delivery catheter in the glass tube could be recognized within an average error of 0.05 mm in each of the X- and Z-coordinates and that the retrieval success rate was greatly improved in comparison with that in the case without the use of magnetic force. In an in vivo experiment, we successfully retrieved the UMR in the femoral arteries of pigs.
format Online
Article
Text
id pubmed-10143211
institution National Center for Biotechnology Information
language English
publishDate 2023
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-101432112023-04-29 Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment Lee, Serim Kim, Nahyun Kwon, Junhyoung Jang, Gunhee Micromachines (Basel) Article In this paper, we propose a method of identifying the position of a tethered delivery catheter in a vascular environment, recombining an untethered magnetic robot (UMR) to the tethered delivery catheter, and safely retrieving them from the vascular environment in an endovascular intervention by utilizing a separable and recombinable magnetic robot (SRMR) and a magnetic navigation system (MNS). From images of a blood vessel and a tethered delivery catheter taken from two different angles, we developed a method of extracting the position of the delivery catheter in the blood vessel by introducing dimensionless cross-sectional coordinates. Then, we propose a retrieval method for the UMR by using the magnetic force considering the delivery catheter’s position, suction force, and rotating magnetic field. We used thane MNS and feeding robot to simultaneously apply magnetic force and suction force to the UMR. In this process, we determined a current solution for generating magnetic force by using a linear optimization method. Finally, we conducted in vitro and in vivo experiments to verify the proposed method. In the in vitro experiment, which was in a glass tube environment, by using an RGB camera, we confirmed that the location of the delivery catheter in the glass tube could be recognized within an average error of 0.05 mm in each of the X- and Z-coordinates and that the retrieval success rate was greatly improved in comparison with that in the case without the use of magnetic force. In an in vivo experiment, we successfully retrieved the UMR in the femoral arteries of pigs. MDPI 2023-03-24 /pmc/articles/PMC10143211/ /pubmed/37420957 http://dx.doi.org/10.3390/mi14040724 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Lee, Serim
Kim, Nahyun
Kwon, Junhyoung
Jang, Gunhee
Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment
title Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment
title_full Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment
title_fullStr Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment
title_full_unstemmed Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment
title_short Identification of the Position of a Tethered Delivery Catheter to Retrieve an Untethered Magnetic Robot in a Vascular Environment
title_sort identification of the position of a tethered delivery catheter to retrieve an untethered magnetic robot in a vascular environment
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10143211/
https://www.ncbi.nlm.nih.gov/pubmed/37420957
http://dx.doi.org/10.3390/mi14040724
work_keys_str_mv AT leeserim identificationofthepositionofatethereddeliverycathetertoretrieveanuntetheredmagneticrobotinavascularenvironment
AT kimnahyun identificationofthepositionofatethereddeliverycathetertoretrieveanuntetheredmagneticrobotinavascularenvironment
AT kwonjunhyoung identificationofthepositionofatethereddeliverycathetertoretrieveanuntetheredmagneticrobotinavascularenvironment
AT janggunhee identificationofthepositionofatethereddeliverycathetertoretrieveanuntetheredmagneticrobotinavascularenvironment