MR-Conditional Robotic Actuation of Concentric Tendon-Driven Cardiac Catheters

Yifan Wang, Zheng Qiu, Junichi Tokuda, Ehud J. Schmidt, Aravindan Kolandaivelu, Yue Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Atrial fibrillation (AF) and ventricular tachycar-dia (VT) are two of the sustained arrhythmias that significantly affect the quality of life of patients. Treatment of AF and VT often requires radiofrequency ablation of heart tissues using an ablation catheter. Recent progress in ablation therapy leverages magnetic resonance imaging (MRI) for higher contrast visual feedback, and additionally utilizes a guiding sheath with an actively deflectable tip to improve the dexterity of catheter ma-nipulation inside the heart. This paper presents the design and validation of an MR-conditional robotic module for automated 6-degrees-of-freedom actuation of both the ablation catheter and the sheath. The robotic module features a compact design for improved accessibility inside the MR scanner bore and is driven by piezoelectric motors to ensure MR-conditionality. The combined catheter-sheath mechanism is essentially a concentric tendon-driven continuum robot and its kinematics is modeled by the constant curvature model for closed-loop position control. Path following experiments were conducted to validate the actuation module and control scheme, achieving < 2 mm average tip position error with closed-loop control and online shape fitting.

Original languageEnglish (US)
Title of host publication2024 International Symposium on Medical Robotics, ISMR 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350377118
DOIs
StatePublished - 2024
Event2024 International Symposium on Medical Robotics, ISMR 2024 - Atlanta, United States
Duration: Jun 3 2024Jun 5 2024

Publication series

Name2024 International Symposium on Medical Robotics, ISMR 2024

Conference

Conference2024 International Symposium on Medical Robotics, ISMR 2024
Country/TerritoryUnited States
CityAtlanta
Period6/3/246/5/24

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Surgery
  • Instrumentation

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