An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention

Junsun Hwang; Sungwoong Jeon; Beomjoo Kim; Jin young Kim; Chaewon Jin; Ara Yeon; Byung Ju Yi; Chang Hwan Yoon; Hun Jun Park; Salvador Pané; Bradley J. Nelson; Hongsoo Choi

doi:10.1002/adhm.202102529

An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention

Junsun Hwang, Sungwoong Jeon, Beomjoo Kim, Jin young Kim, Chaewon Jin, Ara Yeon, Byung Ju Yi, Chang Hwan Yoon, Hun Jun Park, Salvador Pané, Bradley J. Nelson, Hongsoo Choi

Division of Cardiology

Research output: Contribution to journal › Article › peer-review

36 Scopus citations

Abstract

Robotic magnetic manipulation systems offer a wide range of potential benefits in medical fields, such as precise and selective manipulation of magnetically responsive instruments in difficult-to-reach vessels and tissues. However, more preclinical/clinical studies are necessary before robotic magnetic interventional systems can be widely adopted. In this study, a clinically translatable, electromagnetically controllable microrobotic interventional system (ECMIS) that assists a physician in remotely manipulating and controlling microdiameter guidewires in real time, is reported. The ECMIS comprises a microrobotic guidewire capable of active magnetic steering under low-strength magnetic fields, a human-scale electromagnetic actuation (EMA) system, a biplane X-ray imaging system, and a remote guidewire/catheter advancer unit. The proposed ECMIS demonstrates targeted real-time cardiovascular interventions in vascular phantoms through precise and rapid control of the microrobotic guidewire under EMA. Further, the potential clinical effectiveness of the ECMIS for real-time cardiovascular interventions is investigated through preclinical studies in coronary, iliac, and renal arteries of swine models in vivo, where the magnetic steering of the microrobotic guidewire and control of other ECMIS modules are teleoperated by operators in a separate control booth with X-ray shielding. The proposed ECMIS can help medical physicians optimally manipulate interventional devices such as guidewires under minimal radiation exposure.

Original language	English
Article number	2102529
Journal	Advanced healthcare materials
Volume	11
Issue number	11
DOIs	https://doi.org/10.1002/adhm.202102529
State	Published - 8 Jun 2022

Bibliographical note

Funding Information:
The authors thank the members of the Department of Robotics Engineering of DGIST who provided sincere support and comments on this work. The authors thank the Center for Core Research Facilities of DGIST for technical support in measurements. The authors are also grateful to the medical staff of Seoul National University Bundang Hospital and DGIST Laboratory Animal Resource Center for providing medical assistance and care for the animals. Lastly, the authors thank KR TECH and DK Medical Systems for consultation on the EMA and BXI systems, respectively. This work was financially supported by the National Convergence Research of Scientific Challenges, the Global Research Laboratory Program through the National Research Foundation of Korea (NRF), and the DGIST R&D Program (no. 2021M3F7A1082275, no. 2017K1A1A2013237, and 21-CoE-BT-02, respectively) funded by the Ministry of Science and ICT, and a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare (no. HI19C0655020019).

Funding Information:
The authors thank the members of the Department of Robotics Engineering of DGIST who provided sincere support and comments on this work. The authors thank the Center for Core Research Facilities of DGIST for technical support in measurements. The authors are also grateful to the medical staff of Seoul National University Bundang Hospital and DGIST Laboratory Animal Resource Center for providing medical assistance and care for the animals. Lastly, the authors thank KR TECH and DK Medical Systems for consultation on the EMA and BXI systems, respectively. This work was financially supported by the National Convergence Research of Scientific Challenges, the Global Research Laboratory Program through the National Research Foundation of Korea (NRF), and the DGIST R&D Program (no. 2021M3F7A1082275, no. 2017K1A1A2013237, and 21‐CoE‐BT‐02, respectively) funded by the Ministry of Science and ICT, and a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare (no. HI19C0655020019).

Publisher Copyright:
© 2022 Wiley-VCH GmbH.

Keywords

cardiovascular diseases
guidewires
interventional medicine
magnetic actuation
medical robotics
soft robotics

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1002/adhm.202102529

Cite this

@article{4fdd888a96d743f4a59b98e800065853,

title = "An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention",

abstract = "Robotic magnetic manipulation systems offer a wide range of potential benefits in medical fields, such as precise and selective manipulation of magnetically responsive instruments in difficult-to-reach vessels and tissues. However, more preclinical/clinical studies are necessary before robotic magnetic interventional systems can be widely adopted. In this study, a clinically translatable, electromagnetically controllable microrobotic interventional system (ECMIS) that assists a physician in remotely manipulating and controlling microdiameter guidewires in real time, is reported. The ECMIS comprises a microrobotic guidewire capable of active magnetic steering under low-strength magnetic fields, a human-scale electromagnetic actuation (EMA) system, a biplane X-ray imaging system, and a remote guidewire/catheter advancer unit. The proposed ECMIS demonstrates targeted real-time cardiovascular interventions in vascular phantoms through precise and rapid control of the microrobotic guidewire under EMA. Further, the potential clinical effectiveness of the ECMIS for real-time cardiovascular interventions is investigated through preclinical studies in coronary, iliac, and renal arteries of swine models in vivo, where the magnetic steering of the microrobotic guidewire and control of other ECMIS modules are teleoperated by operators in a separate control booth with X-ray shielding. The proposed ECMIS can help medical physicians optimally manipulate interventional devices such as guidewires under minimal radiation exposure.",

keywords = "cardiovascular diseases, guidewires, interventional medicine, magnetic actuation, medical robotics, soft robotics",

author = "Junsun Hwang and Sungwoong Jeon and Beomjoo Kim and Kim, {Jin young} and Chaewon Jin and Ara Yeon and Yi, {Byung Ju} and Yoon, {Chang Hwan} and Park, {Hun Jun} and Salvador Pan{\'e} and Nelson, {Bradley J.} and Hongsoo Choi",

note = "Funding Information: The authors thank the members of the Department of Robotics Engineering of DGIST who provided sincere support and comments on this work. The authors thank the Center for Core Research Facilities of DGIST for technical support in measurements. The authors are also grateful to the medical staff of Seoul National University Bundang Hospital and DGIST Laboratory Animal Resource Center for providing medical assistance and care for the animals. Lastly, the authors thank KR TECH and DK Medical Systems for consultation on the EMA and BXI systems, respectively. This work was financially supported by the National Convergence Research of Scientific Challenges, the Global Research Laboratory Program through the National Research Foundation of Korea (NRF), and the DGIST R&D Program (no. 2021M3F7A1082275, no. 2017K1A1A2013237, and 21-CoE-BT-02, respectively) funded by the Ministry of Science and ICT, and a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare (no. HI19C0655020019). Funding Information: The authors thank the members of the Department of Robotics Engineering of DGIST who provided sincere support and comments on this work. The authors thank the Center for Core Research Facilities of DGIST for technical support in measurements. The authors are also grateful to the medical staff of Seoul National University Bundang Hospital and DGIST Laboratory Animal Resource Center for providing medical assistance and care for the animals. Lastly, the authors thank KR TECH and DK Medical Systems for consultation on the EMA and BXI systems, respectively. This work was financially supported by the National Convergence Research of Scientific Challenges, the Global Research Laboratory Program through the National Research Foundation of Korea (NRF), and the DGIST R&D Program (no. 2021M3F7A1082275, no. 2017K1A1A2013237, and 21‐CoE‐BT‐02, respectively) funded by the Ministry of Science and ICT, and a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare (no. HI19C0655020019). Publisher Copyright: {\textcopyright} 2022 Wiley-VCH GmbH.",

year = "2022",

month = jun,

day = "8",

doi = "10.1002/adhm.202102529",

language = "English",

volume = "11",

journal = "Advanced healthcare materials",

issn = "2192-2640",

publisher = "John Wiley and Sons Inc.",

number = "11",

}

TY - JOUR

T1 - An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention

AU - Hwang, Junsun

AU - Jeon, Sungwoong

AU - Kim, Beomjoo

AU - Kim, Jin young

AU - Jin, Chaewon

AU - Yeon, Ara

AU - Yi, Byung Ju

AU - Yoon, Chang Hwan

AU - Park, Hun Jun

AU - Pané, Salvador

AU - Nelson, Bradley J.

AU - Choi, Hongsoo

N1 - Funding Information: The authors thank the members of the Department of Robotics Engineering of DGIST who provided sincere support and comments on this work. The authors thank the Center for Core Research Facilities of DGIST for technical support in measurements. The authors are also grateful to the medical staff of Seoul National University Bundang Hospital and DGIST Laboratory Animal Resource Center for providing medical assistance and care for the animals. Lastly, the authors thank KR TECH and DK Medical Systems for consultation on the EMA and BXI systems, respectively. This work was financially supported by the National Convergence Research of Scientific Challenges, the Global Research Laboratory Program through the National Research Foundation of Korea (NRF), and the DGIST R&D Program (no. 2021M3F7A1082275, no. 2017K1A1A2013237, and 21-CoE-BT-02, respectively) funded by the Ministry of Science and ICT, and a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare (no. HI19C0655020019). Funding Information: The authors thank the members of the Department of Robotics Engineering of DGIST who provided sincere support and comments on this work. The authors thank the Center for Core Research Facilities of DGIST for technical support in measurements. The authors are also grateful to the medical staff of Seoul National University Bundang Hospital and DGIST Laboratory Animal Resource Center for providing medical assistance and care for the animals. Lastly, the authors thank KR TECH and DK Medical Systems for consultation on the EMA and BXI systems, respectively. This work was financially supported by the National Convergence Research of Scientific Challenges, the Global Research Laboratory Program through the National Research Foundation of Korea (NRF), and the DGIST R&D Program (no. 2021M3F7A1082275, no. 2017K1A1A2013237, and 21‐CoE‐BT‐02, respectively) funded by the Ministry of Science and ICT, and a grant of the Korea Health Technology R&D Project through the Korea Health Industry Development Institute (KHIDI), funded by the Ministry of Health & Welfare (no. HI19C0655020019). Publisher Copyright: © 2022 Wiley-VCH GmbH.

PY - 2022/6/8

Y1 - 2022/6/8

N2 - Robotic magnetic manipulation systems offer a wide range of potential benefits in medical fields, such as precise and selective manipulation of magnetically responsive instruments in difficult-to-reach vessels and tissues. However, more preclinical/clinical studies are necessary before robotic magnetic interventional systems can be widely adopted. In this study, a clinically translatable, electromagnetically controllable microrobotic interventional system (ECMIS) that assists a physician in remotely manipulating and controlling microdiameter guidewires in real time, is reported. The ECMIS comprises a microrobotic guidewire capable of active magnetic steering under low-strength magnetic fields, a human-scale electromagnetic actuation (EMA) system, a biplane X-ray imaging system, and a remote guidewire/catheter advancer unit. The proposed ECMIS demonstrates targeted real-time cardiovascular interventions in vascular phantoms through precise and rapid control of the microrobotic guidewire under EMA. Further, the potential clinical effectiveness of the ECMIS for real-time cardiovascular interventions is investigated through preclinical studies in coronary, iliac, and renal arteries of swine models in vivo, where the magnetic steering of the microrobotic guidewire and control of other ECMIS modules are teleoperated by operators in a separate control booth with X-ray shielding. The proposed ECMIS can help medical physicians optimally manipulate interventional devices such as guidewires under minimal radiation exposure.

AB - Robotic magnetic manipulation systems offer a wide range of potential benefits in medical fields, such as precise and selective manipulation of magnetically responsive instruments in difficult-to-reach vessels and tissues. However, more preclinical/clinical studies are necessary before robotic magnetic interventional systems can be widely adopted. In this study, a clinically translatable, electromagnetically controllable microrobotic interventional system (ECMIS) that assists a physician in remotely manipulating and controlling microdiameter guidewires in real time, is reported. The ECMIS comprises a microrobotic guidewire capable of active magnetic steering under low-strength magnetic fields, a human-scale electromagnetic actuation (EMA) system, a biplane X-ray imaging system, and a remote guidewire/catheter advancer unit. The proposed ECMIS demonstrates targeted real-time cardiovascular interventions in vascular phantoms through precise and rapid control of the microrobotic guidewire under EMA. Further, the potential clinical effectiveness of the ECMIS for real-time cardiovascular interventions is investigated through preclinical studies in coronary, iliac, and renal arteries of swine models in vivo, where the magnetic steering of the microrobotic guidewire and control of other ECMIS modules are teleoperated by operators in a separate control booth with X-ray shielding. The proposed ECMIS can help medical physicians optimally manipulate interventional devices such as guidewires under minimal radiation exposure.

KW - cardiovascular diseases

KW - guidewires

KW - interventional medicine

KW - magnetic actuation

KW - medical robotics

KW - soft robotics

UR - http://www.scopus.com/inward/record.url?scp=85124717269&partnerID=8YFLogxK

U2 - 10.1002/adhm.202102529

DO - 10.1002/adhm.202102529

M3 - Article

C2 - 35137568

AN - SCOPUS:85124717269

SN - 2192-2640

VL - 11

JO - Advanced healthcare materials

JF - Advanced healthcare materials

IS - 11

M1 - 2102529

ER -

An Electromagnetically Controllable Microrobotic Interventional System for Targeted, Real-Time Cardiovascular Intervention

Abstract

Bibliographical note

Keywords

UN SDGs

Access to Document

Other files and links

Fingerprint

Cite this