Ultrasound-Guided Catheterization Using a Driller-Tipped Guidewire With Combined Magnetic Navigation and Drilling Motion

The endovascular intervention has been widely used to treat occlusive peripheral vascular disease (PVD). However, the current procedure has concerns such as low successful rate, undesired trauma, and radiation exposure. This article proposes a robotic solution to mitigate these limitations. A miniature magnetic driller-tipped guidewire (MDG) is designed, which performs 1) controllable bending under directional magnetic fields to navigate in...