Literature DB >> 29218235

Experimental Validation of the Pseudo-Rigid-Body Model of the MRI-Actuated Catheter.

Tipakorn Greigarn1, Russell Jackson1, Taoming Liu1, M Cenk Çavuşoğlu1.   

Abstract

An MRI-actuated catheter is a novel robotic catheter system that utilizes the MRI for both remote steering and visualization for catheter ablation of atrial fibrillation. Planning and control of the catheter requires a sufficiently fast yet accurate model of the catheter. The pseudo-rigid-body (PRB) model offers a reasonable trade-off between speed and accuracy by approximating the continuum catheter as rigid links connected by flexible joints, thus reducing the infinite degrees of freedom of the continuum mechanism to a finite one. In this paper, a PRB model of the MRI-actuated catheter is validated experimentally by comparing the deflections of the PRB model with the deflections of the catheter prototype.

Entities:  

Year:  2017        PMID： 29218235      PMCID： PMC5713912          DOI： 10.1109/ICRA.2017.7989414

Source DB:  PubMed          Journal:  IEEE Int Conf Robot Autom        ISSN： 2154-8080


  7 in total

1.  Remote control of catheter tip deflection: an opportunity for interventional MRI.

Authors:  T P L Roberts; W V Hassenzahl; S W Hetts; R L Arenson
Journal:  Magn Reson Med       Date:  2002-12       Impact factor: 4.668

2.  2012 HRS/EHRA/ECAS Expert Consensus Statement on Catheter and Surgical Ablation of Atrial Fibrillation: recommendations for patient selection, procedural techniques, patient management and follow-up, definitions, endpoints, and research trial design.

Authors:  Hugh Calkins; Karl Heinz Kuck; Riccardo Cappato; Josep Brugada; A John Camm; Shih-Ann Chen; Harry J G Crijns; Ralph J Damiano; D Wyn Davies; John DiMarco; James Edgerton; Kenneth Ellenbogen; Michael D Ezekowitz; David E Haines; Michel Haissaguerre; Gerhard Hindricks; Yoshito Iesaka; Warren Jackman; Jose Jalife; Pierre Jais; Jonathan Kalman; David Keane; Young-Hoon Kim; Paulus Kirchhof; George Klein; Hans Kottkamp; Koichiro Kumagai; Bruce D Lindsay; Moussa Mansour; Francis E Marchlinski; Patrick M McCarthy; J Lluis Mont; Fred Morady; Koonlawee Nademanee; Hiroshi Nakagawa; Andrea Natale; Stanley Nattel; Douglas L Packer; Carlo Pappone; Eric Prystowsky; Antonio Raviele; Vivek Reddy; Jeremy N Ruskin; Richard J Shemin; Hsuan-Ming Tsao; David Wilber
Journal:  Europace       Date:  2012-03-01       Impact factor: 5.214

3.  Control of intravascular catheters using an array of active steering coils.

Authors:  N Gudino; J A Heilman; J J Derakhshan; J L Sunshine; J L Duerk; M A Griswold
Journal:  Med Phys       Date:  2011-07       Impact factor: 4.071

4.  Design and Control of Concentric-Tube Robots.

Authors:  Pierre E Dupont; Jesse Lock; Brandon Itkowitz; Evan Butler
Journal:  IEEE Trans Robot       Date:  2010-04-01       Impact factor: 5.567

5.  Catadioptric Stereo Tracking for Three Dimensional Shape Measurement of MRI Guided Catheters.

Authors:  Russell C Jackson; Taoming Liu; M Cenk Çavuşoğlu
Journal:  IEEE Int Conf Robot Autom       Date:  2016-06-09

6.  Modeling and Validation of the Three-Dimensional Deflection of an MRI-Compatible Magnetically Actuated Steerable Catheter.

Authors:  Taoming Liu; Nate Lombard Poirot; Dominique Franson; Nicole Seiberlich; Mark A Griswold; M Cenk Cavusoglu
Journal:  IEEE Trans Biomed Eng       Date:  2015-12-22       Impact factor: 4.538

7.  Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters.

Authors:  Tipakorn Greigarn; M Cenk Çavuşoğlu
Journal:  IEEE Int Conf Robot Autom       Date:  2015-05
  7 in total
  6 in total

1.  Adaptive Dynamic Control for Magnetically Actuated Medical Robots.

Authors:  Lavinia Barducci; Giovanni Pittiglio; Joseph C Norton; Keith L Obstein; Pietro Valdastri
Journal:  IEEE Robot Autom Lett       Date:  2019-07-15

2.  Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots.

Authors:  Tipakorn Greigarn; Nate Lombard Poirot; Xinyang Xu; M Cenk Çavuşoğlu
Journal:  IEEE Robot Autom Lett       Date:  2018-11-19

3.  Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach.

Authors:  Giovanni Pittiglio; Lavinia Barducci; James W Martin; Joseph C Norton; Carlo A Avizzano; Keith L Obstein; Pietro Valdastri
Journal:  IEEE Robot Autom Lett       Date:  2019-01-23

4.  State Estimation for MRI-Actuated Catheters via Catadioptric Stereo Camera.

Authors:  Tipakorn Greigarn; Russell Jackson; M Cenk Çavuşoğlu
Journal:  Rep U S       Date:  2019-01-07

5.  Analysis of Contact Stability and Contact Safety of a Robotic Intravascular Cardiac Catheter under Blood Flow Disturbances.

Authors:  Ran Hao; Nate Lombard Poirot; M Cenk Çavuşoğlu
Journal:  Rep U S       Date:  2021-02-10

6.  Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion.

Authors:  Ran Hao; E Erdem Tuna; M Cenk Çavuşoğlu
Journal:  J Dyn Syst Meas Control       Date:  2021-02-23       Impact factor: 1.640
  6 in total

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