Electromagnetic Micro-Guidewire Control in Large Workspaces

RESUMO

Electromagnetic navigation requires sufficient actuation at clinically relevant distances due to limited magnetic volumes and coil currents. We combine real-time pose feedback with constrained convex optimization, dynamic feedback, and repetitive control to achieve energy-efficient micro-guidewire steering inside realistic anatomical models. Experiments with a clinically oriented, three-coil electromagnetic navigation system and a 0.6 mm-diameter tip magnet demonstrate angular tracking with root-mean-square errors below 0.25 degrees at distances up to 55 cm from the coil cover. Nullspace current redistribution maintains accurate tracking under active 45 A coil-current constraints. Compared with conventional field alignment, we demonstrate that pose-dependent torque-based allocation substantially reduces current demand, with the efficiency benefit retained at a pose-feedback rate of 15 Hz. These results demonstrate how real-time state information and optimization can extend electromagnetic guidewire control toward clinically relevant working distances.