A Dual-Mode Magnetic Intravascular Ultrasound Robot for Tortuous Blood Vessels

Atherosclerosis annually accounts for over 30% of mortality globally. The intravascular ultrasound (IVUS) could provide detailed information about lesions, allowing for accurate diagnosis and treatment. However, the existing IVUS catheters are challenging to work in tortuous blood vessels. This study proposes a novel dual-mode magnetic IVUS robot, simultaneously improving the operating flexibility and imaging stability. Firstly, the IVUS robot consisted of an acoustic-magnetic tip and a soft catheter was designed. Then, the magnetic driving principle of navigating mode and imaging mode was analyzed. Finally, the effectiveness of the IVUS robot was validated in a tortuous vascular model and tissue-mimicking phantom. The designed IVUS robot demonstrated the feasibility of tortuous intravascular imaging, providing a potential solution for clinical applications.