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dc.contributor.authorKesner, Samuel Benjamin
dc.contributor.authorHowe, Robert D.
dc.date.accessioned2010-06-28T12:41:47Z
dc.date.issued2010
dc.identifier.citationKesner, Samuel B., and Robert D. Howe. 2010. Design and Control of Motion Compensation Cardiac Catheters. Proceedings of the IEEE Conference on Robotics and Automation: May 3-8, 2010, Anchorage, Alaska.en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:4263742
dc.description.abstractRobotic cardiac catheters have the potential to revolutionize heart surgery by extending minimally invasive techniques to complex surgical repairs inside the heart. However, catheter technologies are currently unable to track fast tissue motion, which is required to perform delicate procedures inside a beating heart. This paper proposes an actuated catheter tool that compensated for the motion of heart structures like the mitral valve apparatus by servoing a catheter guidewire inside a flexible sheath. We examine design and operation parameters that affect performance and establish that friction and backlash limit the tracking performance of the catheter system. Based on the results of these experiments and a model of the backlash behavior, we propose and implement compensation methods to improve trajectory tracking performance. The catheter system is evaluated with 3D ultrasound guidance in simulate in vivo conditions. the results demonstrate that with mechanical and control system design improvements, a robotic catheter system can accurately track the fast motion of the human mitral valve.en_US
dc.description.sponsorshipEngineering and Applied Sciencesen_US
dc.language.isoen_USen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dash.licenseOAP
dc.titleDesign and Control of Motion Compensation Cardiac Cathetersen_US
dc.typeConference Paperen_US
dc.description.versionAccepted Manuscripten_US
dc.relation.journalProceedings of the IEEE Conference on Robotics and Automationen_US
dash.depositing.authorHowe, Robert D.
dc.date.available2010-06-28T12:41:47Z
dc.identifier.doi10.1109/ROBOT.2010.5509250
dash.contributor.affiliatedKesner, Samuel
dash.contributor.affiliatedHowe, Robert


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