Compensation for unconstrained catheter shaft motion in cardiac catheters
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CitationDegirmenci, Alperen, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, Robert D. Howe. 2016. Compensation for Unconstrained Catheter Shaft Motion in Cardiac Catheters. In Proceedings of the IEEE International Conference on Robotics and Automation, Stockholm, Sweden, May 16-21, 2016: 4436-4442.
AbstractAbstract— 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 submillimeter 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.
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