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<p>Magnetic guidewire (MG) robots provide a remotely operated, efficient, and minimally invasive solution for vascular interventions. Despite these advantages, achieving precise and stable control in complex vascular environments remains a significant challenge. To address these issues, a hybrid control method for MG robots used in vascular intervention is proposed, combining magnetic field actuation and mechanical propulsion to achieve high-precision control of the MG tip steering angle, continuum posture, and propulsion movement. Under the non-uniform magnetic field of a permanent magnet, the MG is modeled as an Euler–Bernoulli beam with the constant curvature assumption, and a control model for the steering angle is established. The Cosserat-rod model is then adopted with simplified boundary conditions, avoiding local optimal issues caused by complex constraints, thus improving the stability of the MG tip posture control model. A guidewire/catheter Advancer (GCA) with position-sensing capability is also designed, leading to the construction of a closed-loop control model for MG propulsion movement. Based on finite element simulations and experimental validation, the results demonstrate that the proposed method can stably achieve MG tip steering angle control (with errors below 3.95°) and continuum posture control, with posture errors below 1.98&#xa0;mm along the investigated trajectories, and below 0.50&#xa0;mm within the range where the magnetic dipole approximation satisfies engineering accuracy requirements. Under closed-loop propulsion control, the propulsion error percentage is reduced to below 0.7%, achieving high-precision MG propulsion control.</p>

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A hybrid control method for magnetic guidewire robots used in vascular intervention

  • 期刊论文

  • 发表日期：

    2026年3月28日

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  • Jixiong Ren,
  • Zhifan Teng,
  • Hongbo Sun,
  • Jiawen Ji,
  • Jianhua Liu,
  • Qiuliang Wang

摘要

Magnetic guidewire (MG) robots provide a remotely operated, efficient, and minimally invasive solution for vascular interventions. Despite these advantages, achieving precise and stable control in complex vascular environments remains a significant challenge. To address these issues, a hybrid control method for MG robots used in vascular intervention is proposed, combining magnetic field actuation and mechanical propulsion to achieve high-precision control of the MG tip steering angle, continuum posture, and propulsion movement. Under the non-uniform magnetic field of a permanent magnet, the MG is modeled as an Euler–Bernoulli beam with the constant curvature assumption, and a control model for the steering angle is established. The Cosserat-rod model is then adopted with simplified boundary conditions, avoiding local optimal issues caused by complex constraints, thus improving the stability of the MG tip posture control model. A guidewire/catheter Advancer (GCA) with position-sensing capability is also designed, leading to the construction of a closed-loop control model for MG propulsion movement. Based on finite element simulations and experimental validation, the results demonstrate that the proposed method can stably achieve MG tip steering angle control (with errors below 3.95°) and continuum posture control, with posture errors below 1.98 mm along the investigated trajectories, and below 0.50 mm within the range where the magnetic dipole approximation satisfies engineering accuracy requirements. Under closed-loop propulsion control, the propulsion error percentage is reduced to below 0.7%, achieving high-precision MG propulsion control.