Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology

Zhang, Xiu; Palumbo, Maria Chiara; Perico, Francesca; Magro, Mattia; Fortuna, Andrea; Magni, Tommaso; Votta, Emiliano; Segato, Alice; Momi, Elena De

doi:10.1109/iros47612.2022.9981676

Cited by 6 publications

(2 citation statements)

References 22 publications

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“…Their adaptive impedance controller was shown to enable smooth control and safe interaction between the robot and its environment. On the other hand, there exist alternative approaches that make use of machine-learning based methods that can be coupled with the instrument's kinematics model to compensate and control its linear and bending motions [47], [48]. In this paper, an approach based on tissue motion estimation and tracking is employed.…”

Section: Dynamic Tissue Motion Trackingmentioning

confidence: 99%

Force Control With a Novel Robotic Catheterization System Based on Braided Sleeve Grippers

Al-Ahmad

Ourak

Vlekken³

et al. 2023

IEEE Trans. Med. Robot. Bionics

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The complex, deformable, and dynamic cardiovascular system makes precise control of flexible medical instruments a challenging task. An innovative robot-assisted catheterization system (RACS) based on braided sleeves was thus developed to aid interventionalists during cardiovascular procedures. The RACS allows navigating instruments through the vasculature with continuous uninterrupted motion. The complete design and characterization of the developed RACS are presented and experimentally evaluated. The RACS' capability to track dynamic motion is demonstrated. Hereto, heart motion is estimated and fed into a dedicated motion controller. It is further demonstrated that tissue tracking performance can be improved by compensating for hysteresis present along the instrument's length and incorporating a rate-dependent Bouc-Wen model in the motion control strategy. Here, a practical method based on multi-core FBG-inscribed fiber technology is presented for continuous instrument pose tracking. A velocity controller is cascaded with a force control loop to enable instrument tip contact force tracking. An experimental comparison between three different force control strategies was carried out on a benchtop laboratory setup resembling a dynamically moving heart wall. Results confirmed the superior performance of the cascaded force-velocity controller with Bouc-Wen hysteresis compensation. Finally, the RACS system was validated through in-vivo experiments on a living swine which demonstrated its ability to successfully navigate instruments toward the heart.

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Section: Dynamic Tissue Motion Trackingmentioning

confidence: 99%

Force Control With a Novel Robotic Catheterization System Based on Braided Sleeve Grippers

Al-Ahmad

Ourak

Vlekken³

et al. 2023

IEEE Trans. Med. Robot. Bionics

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show abstract

“…Benefits of surgical robotic platforms span a variety of applications, from cardiovascular interventions (e.g., precise positioning in cardiac mapping, radiofrequency ablation, and valve repair) (3,4) to orthopedic surgery (e.g., heightened force generation for hip replacement) (5). Surgical robotic platforms have also been developed by multiple research groups to facilitate minimally invasive approaches in hard-to-navigate areas of the body (6)(7)(8)(9)(10)(11)(12)(13)(14).…”

Section: Introductionmentioning

confidence: 99%

A multifunctional soft robot for cardiac interventions

Rogatinsky,

Recco,

Feichtmeier

et al. 2023

Sci. Adv.

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In minimally invasive endovascular procedures, surgeons rely on catheters with low dexterity and high aspect ratios to reach an anatomical target. However, the environment inside the beating heart presents a combination of challenges unique to few anatomic locations, making it difficult for interventional tools to maneuver dexterously and apply substantial forces on an intracardiac target. We demonstrate a millimeter-scale soft robotic platform that can deploy and self-stabilize at the entrance to the heart, and guide existing interventional tools toward a target site. In two exemplar intracardiac procedures within the right atrium, the robotic platform provides enough dexterity to reach multiple anatomical targets, enough stability to maintain constant contact on motile targets, and enough mechanical leverage to generate newton-level forces. Because the device addresses ongoing challenges in minimally invasive intracardiac intervention, it may enable the further development of catheter-based interventions.

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A Deep Reinforcement Learning Approach for Pre-Planning Problems in Robotic Intra-Operative Ultrasound: a Virtual Environment-Based Analysis

Lin,

Xie,

Wang

et al. 2023

2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence (DTPI)

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Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology

Cited by 6 publications

References 22 publications

Force Control With a Novel Robotic Catheterization System Based on Braided Sleeve Grippers

Force Control With a Novel Robotic Catheterization System Based on Braided Sleeve Grippers

A multifunctional soft robot for cardiac interventions

A Deep Reinforcement Learning Approach for Pre-Planning Problems in Robotic Intra-Operative Ultrasound: a Virtual Environment-Based Analysis

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