Magnetic Catheter Navigation Systems

Abstract

In the last 10 years, research has started on systems that will minimize the complications that may occur in procedures, such as endoscopy, colonoscopy, bronchoscopy, which are conventionally performed manually by the doctor and robotically during biopsy and diagnostic procedures. The most important feature of these systems is that the catheter has a magnetic character, and can be guided contactless via an electromagnetic systems. In addition, tools such as capsules, robots, and drug delivery systems with magnetic properties are being developed for other treatment approaches. In this study, the review of electromagnetic catheter navigation systems that provide contactless guidance has been provided..

Keywords

• Electromagnetic systems
• magnetic catheter
• contactless guidance systems
• catheter
• magnetic navigation systems

Project Number

118E769

Manyetik Kateter Yönlendirme Sistemleri

Abstract

Son 10 yılda biyopsi ve tanı işlemleri esnasında doktor vasıtasıyla manuel ve robotik olarak gerçekleştirilen endoskopi, kolonoskopi, bronkoskopi gibi işlemlerde oluşabilecek komplikasyonları en aza indirmeye yarayacak sistemlerin üzerine çalışılmaya başlanmıştır. Bu sistemlerin en önemli özelliği yönlendirilecek kateterin manyetik özelliğe sahip olması ve elektromanyetik sistemler ile kateterin temassız bir şekilde yönlendirilmesidir. Bunun yanı sıra tedaviye yönelik başka işlemler için de manyetik özelliğe sahip kapsül, robot, ilaç taşıma sistemleri vb. araçlar geliştirilmektedir. Bu araçların yönlendirilmesi de bahsedilen sistemler aracılığıyla temassız bir şekilde gerçekleştirilebilmektedir. Bu çalışmada temassız yönlendirmeyi sağlayan manyetik kateter navigasyon sistemleri hakkında bilgi verilmektedir.

Keywords

• Elektromanyetik sistemler
• manyetik kateter
• temassız yönlendirme sistemleri
• kateter
• manyetik navigasyon sistemleri

Supporting Institution

TÜBİTAK

Project Number

118E769

Thanks

Bu çalışma, Türkiye Bilimsel ve Teknik Araştırma Kurumu (TÜBİTAK) tarafından 118E769 numaralı proje ile desteklenmiştir.

References

1. Skervin, A, Levy, B, Management of common surgical complications, Surgery (United Kingdom), 2020, 38, 128–132.
2. Ali, A, Plettenburg, D.H, Breedveld, P, Steerable Catheters in Cardiology: Classifying Steerability and Assessing Future Challenges, IEEE Transactions on Biomedical Engineering, 2016, 63, 679–693.
3. Speir, E.J, Newsome, J.M, Bercu, Z.L, Miller, M.J, Martin, J.G, Correlation of CT Angiography and 99mTechnetium-Labeled Red Blood Cell Scintigraphy to Catheter Angiography for Lower Gastrointestinal Bleeding: A Single-Institution Experience, Journal of Vascular and Interventional Radiology, 2019, 30, 1725-1732.e7.
4. Yarmohammadi, H, Shenoy, C, Cardiovascular magnetic resonance imaging before catheter ablation for atrial fibrillation: Much more than left atrial and pulmonary venous anatomy, International Journal of Cardiology, 2015, 179, 461–464.
5. Hautmann, H, Schneider, A, Pinkau, T, Peltz, F, Feussner, H, Electromagnetic catheter navigation during bronchoscopy: Validation of a novel method by conventional fluoroscopy, CHEST Journal, 2005,128, 382–387.
6. Michalski, D, Tabor, Z, Zieliński, B, Determining the shift of a bronchoscope catheter from the analysis of a video sequence of a bronchoscope video camera, Biocybernetics and Biomedical Engineering, 2017, 37, 630–636.
7. Abbott, J.E, Heinemann, A, Badalament, R, Davalos, J.G, A clever technique for placement of a urinary catheter over a wire, Urology. Annua, 2015, 7, 367–370.
8. Deng, R. Di et al., A novel double-balloon catheter for percutaneous balloon pulmonary valvuloplasty under echocardiographic guidance only, Journal of Cardiology, 2020.

9. Mt. Laurel, NJ. Care and Management of Patients with Urinary Catheters: A Clinical Resource Guide, The Wound, Ostomy, and Continence Nurses Society, 2016.
10. Igawa, Y, Wyndaele, J.J, Nishizawa, O, Catheterization: Possible complications and their prevention and treatment, International Journal of Urology, 2008, 15, 481–485.
11. Kornbau, C, Lee, K, Hughes, G, Firstenberg, M, Central line complications, International Journal of Critical Illness and Injury Science, 2015, 5, 170.
12. Biffi, R. et al., Best choice of central venous insertion site for the prevention of catheter-related complications in adult patients who need cancer therapy: A randomized trial, Annals of Oncology, 2009, 20, 935–940.
13. Levy, I., Gralnek, I.M, Complications of diagnostic colonoscopy, upper endoscopy, and enteroscopy, Best Practice & Research: Clinical Gastroenterology Special Issues, 2016, 30, 705–718.
14. Sheng, K. X. et al., Comparative efficacy and safety of lock solutions for the prevention of catheter-related complications including infectious and bleeding events in adult haemodialysis patients: a systematic review and network meta-analysis, Clinical Microbiology and Infection, 2020, 26, 545–552.
15. Zhang, Z, Wang, X, Liu, J, Dai, C, Sun, Y, Robotic Micromanipulation: Fundamentals and Applications, Annual Reviews in Control Autonomic Systems, 2019, 2, 181–203 (2019).
16. Shauer, A. et al., Clinical research: Remote magnetic navigation vs. Manually controlled catheter ablation of right ventricular outflow tract arrhythmias: A retrospective study, Europace, 2018, 20, ii28–ii32.
17. Kataria, V, Berte, B, Vandekerckhove, Y, Tavernier, R, Duytschaever, M, Remote Magnetic versus Manual Navigation for Radiofrequency Ablation of Paroxysmal Atrial Fibrillation: Long-Term, Controlled Data in a Large Cohort, BioMed Research International, 2017.
18. Cao, Q. et al., Recent advances in manipulation of micro- and nano-objects with magnetic fields at small scales, Material Horizons, 2020, 7, 638–666.
19. de Arcos, J. et al,. Prospective Clinical Implementation of a Novel Magnetic Resonance Tracking Device for Real-Time Brachytherapy Catheter Positioning, International Journal of Radiation Oncology, Biology, Physics, 2017, 99, 618–626.
20. Alemzadeh, H, Raman, J, Leveson, N, Kalbarczyk, Z, Iyer, R.K, Adverse events in robotic surgery: A retrospective study of 14 years of the data, PLoS One, 2016, 11, 1–20.
21. Muller, L, Saeed, M, Wilson, M.W, Hetts, S.W, Remote control catheter navigation: Options for guidance under MRI, Journal of Cardiovascular Magnetic Resonance, 2012, 14, 1–9.
22. Rafii-Tari, H, Payne, C.J, Yang, G.Z, Current and emerging robot-assisted endovascular catheterization technologies: A review, Annals of Biomedical Engineering, 2014, 42, 697–715.
23. Kim, N, Lee, S, Lee, W, Jang, G, Development of a magnetic catheter with rotating multi-magnets to achieve unclogging motions with enhanced steering capability, AIP Advances, 2018, 8.
24. Spilezewski, K.L, Anderson, J. M, Schaap, R.N, Solomon, D.D, In vivo biocompatibility of catheter materials, Biomaterials, 1988, 9, 253–256.
25. Ali, A, Plettenburg, D.H, Breedveld, P, Steerable Catheters in Cardiology: Classifying Steerability and Assessing Future Challenges, IEEE Transactions on Biomedical Engineering, 2016, 63, 679–693.
26. Ahmadi, M, Zhang, Y, Rajamani, R, Timm, G, Sezen, A.S, A Super-Capacitive Pressure Sensor for a Urethral Catheter, Annual International Conferences of the IEEE Engineering in Medicine and Biology Society, 2018, 3453–3455.
27. Hu, X, Chen, A, Luo, Y, Zhang, C, Zhang, E, Steerable catheters for minimally invasive surgery: a review and future directions, Computer Assisted Surgery, 2018, 23, 21–41.
28. Aagaard, P, Natale, A, Di Biase, L, Robotic navigation for catheter ablation: Benefits and challenges, Expert Review of Medical Device, 2015, 12, 457–469.
29. Ullah, W. et al., Comparison of Robotic and Manual Persistent AF Ablation Using Catheter Contact Force Sensing: An International Multicenter Registry Study, PACE - Pacing and Clinical Electrophysiolog, 2014, 37, 1427–1435.
30. Beaulieu, L. et al., Real-time electromagnetic tracking–based treatment platform for high-dose-rate prostate brachytherapy: Clinical workflows and end-to-end validation, Brachytherapy, 2018, 17, 103–110.
31. Nguyen, P. B. et al,. Real-time microrobot posture recognition via biplane X-ray imaging system for external electromagnetic actuation, International Journal of Computer Assisted Radiology and Surgery, 2018,13, 1843–1852.
32. Jaselskė, E, Adlienė, D, Rudžianskas, V, Urbonavičius, B.G, Inčiūra, A, In vivo dose verification method in catheter based high dose rate brachytherapy, Physica Medica, 2017, 44, 1–10.
33. Paul, S, Munavvar, M, Flexible bronchoscopy, Medical (United Kingdom), 2020, 48, 257–262.
34. Murgu, S.D, Robotic assisted-bronchoscopy: Technical tips and lessons learned from the initial experience with sampling peripheral lung lesions, BMC Pulmonary Medicine, 2019, 19, 1–8.
35. Miyagaki, H. et al., Performance comparison of peripherally inserted central venous catheters in gastrointestinal surgery: A randomized controlled trial, Clinical Nutrition, 2012, 31, 48–52.
36. Lee, S.E, Lin, F.Y, Lu, Y, Chang, H.J, Min, J.K, Rationale and design of the Coronary Computed Tomographic Angiography for Selective Cardiac Catheterization: Relation to Cardiovascular Outcomes, Cost Effectiveness and Quality of Life (CONSERVE) trial, American Heart Journal, 2017, 186, 48–55.
37. Bharat, S, et al., Electromagnetic tracking for catheter reconstruction in ultrasound-guided high-dose-rate brachytherapy of the prostate, Brachytherapy, 2014, 13, 640–650.
38. Cochennec, F, Riga, C, Hamady, M, Cheshire, N, Bicknell, C, Improved catheter navigation with 3D electromagnetic guidance, Journal of Endovascular Therapy, 2013, 20, 39–47.
39. Hermann, E.J, Capelle, H.H, Tschan, C.A, Krauss, J.K, Electromagnetic-guided neuronavigation for safe placement of intraventricular catheters in pediatric neurosurgery: Clinical article, Journal of Neurosurgery Pediatrics, 2012, 10, 327–333.
40. O’Donoghue, K. et al., Catheter position tracking system using planar magnetics and closed loop current control, IEEE Transactions on Magnetics, 2014, 50.
41. Jaeger, H.A. et al., Automated Catheter Navigation With Electromagnetic Image Guidance, IEEE Transactions on Biomedical Engineering, 2017, 64, 1972–1979.
42. Mukherjee, S, Chacey, M, Diagnostic Yield of Electromagnetic Navigation Bronchoscopy Using a Curved-tip Catheter to Aid in the Diagnosis of Pulmonary Lesions, Journal of Medical Devices, Transactions of the ASME, 2017, 24, 35–39.
43. Bauernfeind, T. et al, The magnetic navigation system allows safety and high efficacy for ablation of arrhythmias, Europace, 2011, 13, 1015–1021.
44. Le, V.N.T, Nguyen, N.H, Alameh, K, Weerasooriya, R, Pratten, P, Accurate modeling and positioning of a magnetically controlled catheter tip, Medical Physics, 2016, 43, 650–663.
45. Liu, T, Poirot, N.L, Greigarn, T, Çavuşoğlu, M.C, Design of a magnetic resonance imaging guided magnetically actuated steerable catheter, Journal of Medical Devices ASME, 2017, 11.
46. De Lambert, A, et al. Electromagnetic tracking for registration and navigation in endovascular aneurysm repair: A phantom study, European Journal of Vascular and Endovascular Surgery, 2012, 43, 684–689.
47. Fitan, E, Messine, F, Nogarède, B, The electromagnetic actuator design problem: A general and rational approach, IEEE Transactions on Magnetics, 2004, 40, 1579–1590.
48. Antico, M. et al., Ultrasound guidance in minimally invasive robotic procedures, Medical Image Analysis, 2019, 54, 149–167.
49. Di Biase, L. et al., Ablation of atrial fibrillation utilizing robotic catheter navigation in comparison to manual navigation and ablation: Single-center experience, Journal of Cardiovascular Electrophysiology, 2009, 20, 1328–1335.
50. Hlivák, P. et al., Robotic navigation in catheter ablation for paroxysmal atrial fibrillation: Midterm efficacy and predictors of postablation arrhythmia recurrences, Journal of Cardiovascular Electrophysiology, 2011, 22, 534–540.
51. Rafii-Tari, H, et al., Reducing contact forces in the arch and supra-aortic vessels using the Magellan robot, Journal of Vascular Surgery, 2016, 64, 1422–1432.
52. De Ruiter, Q.M.B, Moll, F.L, Van Herwaarden, J.A, Current state in tracking and robotic navigation systems for application in endovascular aortic aneurysm repair, Journal of Vascular Surgery, 2015, 61, 256–264.
53. Schmidt, B. et al., Remote navigation systems in electrophysiology, Europace, 2008, 10 Suppl 3.
54. Carpi, F, Pappone, C, Stereotaxis Niobe® magnetic navigation system for endocardial catheter ablation and gastrointestinal capsule endoscopy, Expert Review of Medical Devices, 2009, 6, 487–498.
55. Newswire, E.A, New Option for Catheter Guidance Control and Imaging : Interview with Jose L . Merino , MD , PhD, 2011, 11, 1–2.
56. Gianni, C, Natale, A, Horton, R.P, Remote Catheter Navigation Systems, Catheter Ablation of Cardiac Arrhythmias Elsevier Inc., 2019, doi:10.1016/B978-0-323-52992-1.00008-9
57. Moya, À. et al., Innovations in Heart Rhythm Disturbances: Cardiac Electrophysiology, Arrhythmias and Cardiac Pacing, Revista Española de Cardiología (English Edition), 2013, (English Ed. 66, 116–123.
58. Gang, E.S. et al., Dynamically shaped magnetic fields: Initial animal validation of a new remote electrophysiology catheter guidance and control system, Circulation: Arrhythmia and Electrophysiology, 2011, 4, 770–777.
59. Phocus, A, Electromagnetic Steering of Interventional Instruments, 2015, 41, 1–22.
60. Liu, J. et al., Design and Fabrication of a Catheter Magnetic Navigation System for Cardiac Arrhythmias, IEEE Transaction Applied Superconductivity, 2016, 26.