Sharif Digital Repository

Minimally invasive procedures are diagnostic or therapeutic methods that cause minimal injuries and side effects for patients. PCI is a common minimally invasive procedure for diagnosis and curing of cardiovascular disorders. In this procedure, the surgeon can have access to the cardiac vessels by a flexible instrument. However, motion control of this instrument inside the patient's body relies on surgeon's skills and in some cases, is time consuming so that the toxic effects of radiation on patient and surgical team increases. Magnetic flexible instruments are suggested to address this problem. Nevertheless, motion control of the flexible instrument inside the body still has many challenges... 

Today, tens of millions of people on the planet suffer from heart disease. For the correct diagnosis and treatment of these diseases, there is a vital need for accurate scientific evidence such as various types of vascular and cardiac imaging. One of the applications of guidewires is in cardiovascular imaging. Of course, in addition to diagnosis, this device is also used in the treatment of disease. It should be noted that about 21 million central vessel catheters are performed annually on heart patients, of which about 16 million are performed using the seldinger method. Reportedly, unfortunately, 5% to 19% of these operations have had side effects and harm to the patient or failure....