Designed by a team of grad/undergrad Georgia Tech students for a Spring 2017 Medical Robotics course.

1. Automated Advancement of a
Guidewire Using Robotic Technology
Dan Bonistalli, Brittany Bowers, Nicole Gervasi, & Marie Stauffer

2. Background
● Tiny guidewires are designed to navigate vessels
○ Usually between 0.014 to 0.038 inches
● Once it reaches its destination, it acts as a guide so that larger catheters can
rapidly follow for easier delivery to the treatment site
○ Use of imaging to help reach destination
● Problem = physicians are exposed to radiation while performing the procedures
○ Effects of radiation = cancer, benign tumors, cataracts, harmful genetic changes [2].

3. Radiation Dose Exposure for Physicians per Procedure

4. Market Information
● Global catheters market size estimated at $26.38 billion in 2014
● Expected to grow 9.7% from 2014 to 2020 due to [1].
○ Demand for minimally invasive medical procedures
○ Growing size of the geriatric population
○ Rising prevalence of lifestyle induced diseases

5. Clinical Need
Increase in catheterizations = Increase in radiation exposure for physicians
There is a need to reduce radiation exposure for physicians and staff during
catheterization procedures

6. Current Technology
● A physician inserts and controls the
guidewire
● Some robotic guidewire and catheter
systems in use for procedures under
radiation (i.e. Corindus CorPath)
○ Very large

7. Potential Solution
● Robot with 3 DoF
● Platform with spool of guidewire
○ Placed below entrance point of common femoral artery
● Zero slippage of guidewire
● Physician can feed the guidewire from the control room to reduce radiation
exposure

8. Results - Solidworks
Rotating wire-feeder

9. Results - Solidworks
Rotator and Linear Driver

10. Results - Solidworks Model

11. Results - Motors
Small Reduction Stepper Motor
● Unipolar
● 5V DC operating power
● 513 steps per revolution
● Holding Torque - 150 gF*cm
NEMA-17 Stepper Motor (2)
● Bipolar
● 12V DC operating power
● 200 steps per revolution
● Max radial force: 28N
● Max axial force: 10N

12. Results - Assembled Circuit
Components
● 2 Adafruit Motor Shields
● 1 Arduino Mega Board
● 2 Battery Packs
● 1 USB B male to USB A male

13. Results - Arduino Code
//include necessary libraries
Adafruit_MotorShield AFMSbot(0x60); // No jumpers;
Adafruit_MotorShield AFMStop(0x61); // Rightmost jumper closed
Adafruit_StepperMotor *myStepper1 = AFMSbot.getStepper(513, 1);
Adafruit_StepperMotor *myStepper2 = AFMStop.getStepper(200, 1);
Adafruit_StepperMotor *myStepper3 = AFMStop.getStepper(200, 2);
void setup() {
while (!Serial);
Serial.begin(9600); // set up Serial library at 9600 bps
Serial.println("MMMMotor party!");
AFMStop.begin(); // create with the default frequency 1.6KHz
AFMSbot.begin(); // starts bottom shield
myStepper1->setSpeed(10); // 10 rpm
myStepper2->setSpeed(10); //10 rpm
myStepper3->setSpeed(10); } //10 rpm
void loop() {
Serial.println("Single coil steps");
myStepper1->step(300, FORWARD, SINGLE);
myStepper2->step(100, FORWARD, MICROSTEP);
myStepper3->step(100, FORWARD, MICROSTEP);
Serial.println("Double coil steps");
myStepper1->step(300, FORWARD, DOUBLE);
myStepper2->step(100, FORWARD, MICROSTEP);
myStepper3->step(100, FORWARD, MICROSTEP); }
Include Adafruit Motor Shield Library
Index Motor Shields and Stepper
Motors
Start Motor Shields and
Stepper Motors at selected
frequencies and speeds
Step given number of steps in
specified direction and
stepping method

14. Future Steps
● Add rotary encoder for linear guide rail positioning
● User Interface: adjust code to accommodate varying speed inputs
● Replace rotational stepper motor with a hollow stepper motor
● Testing with Ultrasound

15. References
1. http://www.grandviewresearch.com/industry-analysis/catheters-market-analysis
2. https://www.epa.gov/radiation/radiation-health-effects
3. http://www.interventions.onlinejacc.org/content/6/10/1095
4. http://www.corindus.com/about-corpath/what-is-robotic-assisted-pci