Automated capsulorhexis based on a hybrid magnetic-mechanical actuation system

Ullrich, Franziska; Schuerle, Simone; Pieters, Roel; Dishy, Avraham; Michels, Stephan; Nelson, Bradley J.

doi:10.1109/icra.2014.6907498

Cited by 31 publications

(44 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The microrobot technology of the winning teams included the MagPieR system from the Laboratory of Photonics and Nanostructures, Centre National de la Recherche Scientifique (LPN-CNRS) [4], France, and the MiniMag five-degree-of-freedom magnetic drive from Eidgenössische Technische Hochschule (ETH)-Zurich [5]. As a testament of the tight coupling between research in microrobotics and the MMC, the ETH-Zurich team, composed of Roel Pieters, Simone Schuerle, Franziska Ullrich, Samuel Carreyron, and Brad Nelson, also won a Best Paper Award in medical robotics at ICRA 2014 describing related work [6].…”

Section: Results From the 2014 MMCmentioning

confidence: 99%

News from the Robot Challenge at ICRA 2014 [Competitions]

Popa¹

2014

IEEE Robot. Automat. Mag.

View full text Add to dashboard Cite

Section: Results From the 2014 MMCmentioning

confidence: 99%

News from the Robot Challenge at ICRA 2014 [Competitions]

Popa¹

2014

IEEE Robot. Automat. Mag.

View full text Add to dashboard Cite

“…For example, Clark et al [8] proposed guiding a magnet-tipped implant electrode through the cochlea, and Ullrich et al [9] proposed guiding a magnet-tipped microcatheter within the eye. The very large commercial magnetic steering systems may not be economical for miniaturized applications, where less powerful magnetic fields may suffice to do useful work.…”

Section: Introductionmentioning

confidence: 99%

Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications

et al. 2017

View full text Add to dashboard Cite

Magnet-tipped, elastic rods can be steered by an external magnetic field to perform surgical tasks. Such rods could be useful for a range of new medical applications because they do not require either pull wires or other bulky mechanisms that are problematic in small anatomical regions. However, current magnetic rod steering systems are large and expensive. Here, we describe a method to guide a rod using a robot-manipulated magnet located near a patient. We solve for rod deflections by combining permanent-magnet models with a Kirchhoff elastic rod model and use a resolved-rate approach to compute trajectories. Experiments show that three-dimensional trajectories can be executed accurately without feedback and that the system’s redundancy can be exploited to avoid obstacles.

show abstract

“…Designs of magnetically-actuated catheters were proposed in [11–18]. The catheter is embedded with a set of current-carrying coils [11, 13, 14], or a set of beads made of ferromagnetic materials [15], or a set of magnets [16–18]. In [11, 13], the catheter is remotely steered by passing currents through the coils which generate magnetic torques in the magnetic field of MRI scanner.…”

Section: Introductionmentioning

confidence: 99%

“…In [11, 13], the catheter is remotely steered by passing currents through the coils which generate magnetic torques in the magnetic field of MRI scanner. In [15, 16], the catheter is deflected by changing the gradients of the MRI scanner which generate magnetic forces on the ferromagnetic components.…”

Section: Introductionmentioning

confidence: 99%

Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System

Liu

Jackson

Franson

et al. 2017

IEEE/ASME Trans. Mechatron.

View full text Add to dashboard Cite

This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip, by the magnetic field of the magnetic resonance imaging (MRI) scanner. The Jacobian matrix relating changes of the currents through the coils to changes of the tip position is derived using a three dimensional kinematic model of the catheter deflection. The inverse kinematics is numerically computed by iteratively applying the inverse of the Jacobian matrix. The damped least square method is implemented to avoid numerical instability issues that exist during the computation of the inverse of the Jacobian matrix. The performance of the proposed inverse kinematics approach is validated using a prototype of the robotic catheter by comparing the actual trajectories of the catheter tip obtained via open-loop control with the desired trajectories. The results of reproducibility and accuracy evaluations demonstrate that the proposed Jacobian-based inverse kinematics method can be used to actuate the catheter in open-loop to successfully perform complex ablation trajectories required in atrial fibrillation ablation procedures. This study paves the way for effective and accurate closed-loop control of the robotic catheter with real-time feedback from MRI guidance in subsequent research.

show abstract

Automated capsulorhexis based on a hybrid magnetic-mechanical actuation system

Cited by 31 publications

References 18 publications

News from the Robot Challenge at ICRA 2014 [Competitions]

News from the Robot Challenge at ICRA 2014 [Competitions]

Guiding Elastic Rods With a Robot-Manipulated Magnet for Medical Applications

Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System

Contact Info

Product

Resources

About