COaxially Aligned STeerable (COAST) Guidewire Robot withIntegrated Shape and Force Sensing

Continuum devices, such as guidewires, are widely used in minimally invasive surgery. However,
operation of these devices within sensitive environments, such as vasculature, requires accurate
information on their shape and the force being applied at the tip to avoid damage to the vessel walls.
Obtaining this shape and force information is extremely challenging when designing micro-scale
devices due to miniaturization constraints. In this project we have developed, to our knowledge, the
world’s smallest COaxially Aligned STeerable guidewire robot actuated by a micro-tendon with
integrated FBG-based simultaneous shape and tip force sensing, measuring 890 microns (~0.035”) in
overall diameter.
Jaydev, Desai, [e-mail], Georgia Institute of Technology
Nancy, Deaton, [e-mail], Georgia Institute of Technology
Achraj, Sarma, [e-mail], Georgia Institute of Technology
Timothy, Brumfiel, [e-mail], Georgia Institute of Technology
Sharan, Ravigopal, [e-mail], Georgia Institute of Technology

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Cool work!