A Simulation Framework for Magnetic Continuum Robots

Remote magnetic navigation is a technology used to robotically steer magnetic medical instruments, such as magnetic catheters and guidewires, for minimally invasive surgery. The ability to model and simulate the behavior of these magnetic instruments in complex anatomies is important for their clinical use in many ways. Simulation frameworks can improve their design, characterization, and automatic control capabilities, as well as provide training simulators for physicians. In this work we introduce a new simulation framework that accounts for both magnetic actuation and interactions forces with meshed collision models. The simulations are validated experimentally in planar rigid models using a pre-clinical electromagnetic navigation system. We also demonstrate the use of our framework to build training simulators for two endovascular navigation tasks including the exploration of the aortic arch and the internal carotid artery.

Automated summary

Remote magnetic navigation is a crucial technology for robotically controlling magnetic medical instruments in minimally invasive surgery. This study introduces a new simulation framework that accurately models and simulates the behavior of these instruments, accounting for magnetic force and interaction forces with collision models. The simulations are validated experimentally and the framework shows potential for building training simulators.