Electromagnetic Micro-Guidewire Control in Large Workspaces

Jasan Zughaibi; Elia Jaggy; Valentin Gantenbein; Denis von Arx; Cristiano Sartini; Jonas Kühne; Oliver Brinkmann; Pascal Ernst; Salvador Pané; Quentin Boehler; Michael Muehlebach; Bradley J. Nelson

arXiv · 2609.16354

Electromagnetic Micro-Guidewire Control in Large Workspaces

Jasan Zughaibi·Elia Jaggy·Valentin Gantenbein·Denis von Arx·Cristiano Sartini·Jonas Kühne·Oliver Brinkmann·Pascal Ernst·Salvador Pané·Quentin Boehler·Michael Muehlebach·Bradley J. Nelson

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Abstract

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.

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Jasan Zughaibi, Elia Jaggy, Valentin Gantenbein, Denis von Arx, Cristiano Sartini, Jonas Kühne, Oliver Brinkmann, Pascal Ernst, Salvador Pané, Quentin Boehler, Michael Muehlebach, Bradley J. Nelson. 2026-09-14. Electromagnetic Micro-Guidewire Control in Large Workspaces. https://arxiv.org/abs/2609.16354

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