Work

Compensation for unconstrained catheter shaft motion in cardiac catheters

Year: 2016

Type: conference-paper

Abstract: Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an unconstrained setting, such as patient vasculature, remains a significant challenge due to friction, backlash, and physiological disturbances. In this paper we present a new method for closed-loop control of the catheter tip that can accurately and robustly steer 4-DOF cardiac catheters and other flexible manipulators despite these effects. The performance of the system is demonstrated in a vasculature phantom and an in vivo porcine animal model. During bench top studies the robotic system converged to the desired US imager pose with sub-millimeter and sub-degree-level accuracy. During animal trials the system achieved 2.0 mm and 0.65° accuracy. Accurate and robust robotic navigation of flexible manipulators will enable enhanced visualization and treatment during procedures.

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/icra.2016.7487643

Authors: Alperen Degirmenci, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, Robert D. Howe

Institutions: Harvard University, Beth Israel Deaconess Medical Center, Harvard–MIT Division of Health Sciences and Technology, Massachusetts Institute of Technology

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funder: National Institute of Biomedical Imaging and Bioengineering

Award: Automated Procedure Guidance with Ultrasound Imaging Catheters