Magnetically Actuated Steerable Catheter with Redundant DoF for Cardiovascular Interventions

A magnetically controlled catheter system is proposed to enhance the precision and safety of vascular interventions by reducing procedure time and radiation exposure. The system can also function as a support channel for guidewire deployment. A novel navigation approach is introduced, employing an external permanent magnet capable of controlled rotation to actuate a catheter with an embedded magnetic tip. Leveraging magnetic coupling and a redundant rotational DoF, the system achieves fine angular tip control with minimal spatial displacement, significantly enhancing maneuverability in constrained vascular environments. The magnetic field distribution and its influence on catheter response are characterized, and a kinematic model of the actuation mechanism is established. Experimental validation is conducted under varying magnetic field strengths and orientations, demonstrating reliable steering performance. Application-based experiments in simulated clinical environments further confirm precise navigation capability. The results highlight the advantages of rotational magnetic control in enhancing flexibility and accuracy. The proposed system presents a promising solution for automating catheter-based interventions, offering improved efficiency and power in minimally invasive procedures.