Year: 2024
Type: article
Abstract: This paper presents the free-space dynamic modeling of a novel magnetic resonance imaging (MRI)-actuated robotic catheter. The magnetic resonance imaging-actuated robotic catheter is modeled as a series of rigid and flexible segments, where the rigid segments are embedded with a set of current-carrying micro-coils. The robotic catheter is steered by controlling the currents passing through the actuators under the influence of the static magnetic field of the MRI-scanner. In this paper, two discrete-time dynamic models of the MRI-actuated robotic catheter are presented and evaluated. The first model presented is a full-body Cosserat-rod-based dynamic model based on the dynamic Cosserat-rod theory, where the dynamic Cosserat-rod partial differential equations (PDEs) and the Euler-Lagrange equation are respectively used to derive the dynamic equations of the flexible segments and rigid segments. The second model presented is a hybrid Cosserat-rod based dynamic model, where the dynamic equation of the rigid segments is derived using the Euler-Lagrange equation and the shape of the flexible segments is derived using the static Cosserat-rod theory. The proposed dynamic models are compared and experimentally validated using the 3D positional trajectories collected from a catadioptric stereo tracking system.
Institution: Case Western Reserve University
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Awards: G109422021, G3467293683, RI: Medium: Active Sensing, Localization, and Mapping in Dynamic Deformable Environments for Image-Guided Interventions, Real-Time MRI Guided Robotic Catheter System for Atrial Fibrillation Ablation, PFI:AIR - TT: Magnetic Resonance Imaging Guided Robotic Cardiac Catheter System, G9000086166
OpenAlex ID: W4401608325