A Magnetic-Resonance-Imaging-Compatible Remote Catheter Navigation System

Tavallaei, Mohammad Ali; Thakur, Yogesh; Haider, Shariq; Drangova, Maria

doi:10.1109/tbme.2012.2229709

Cited by 27 publications

(18 citation statements)

References 47 publications

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“…Hence, similar to the evolution of stereotaxic robots (Sec. II-B), there is extensive effort to make catheter guidance systems MRI-compatible [93]. Force feedback, considered important also in catheterbased interventions [94], can be provided using mechanisms based on fibre optics [95], [96].…”

Section: Flexible Robots For Mis -3 Rd Generationmentioning

confidence: 99%

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Bergeles

Yang

2014

IEEE Trans. Biomed. Eng.

181

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Abstract-Within only a few decades from its initial introduction, the field of surgical robotics has evolved into a dynamic and rapidly growing research area with increasing clinical uptake worldwide. Initially introduced for stereotaxic neurosurgery, surgical robots are now involved in an increasing number of procedures, demonstrating their practical clinical potential whilst propelling further advances in surgical innovations. Emerging platforms are also able to perform complex interventions through only a single entry incision, and navigate through natural anatomical pathways in a tethered or wireless fashion. New devices facilitate superhuman dexterity and enable the performance of surgical steps that are otherwise impossible. They also allow seamless integration of micro-imaging techniques at the cellular level, significantly expanding the capabilities of surgeons. This paper provides an overview of the significant achievements in surgical robotics and identifies the current trends and future research directions of the field in making surgical robots safer, smaller, and smarter.

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Section: Flexible Robots For Mis -3 Rd Generationmentioning

confidence: 99%

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Bergeles

Yang

2014

IEEE Trans. Biomed. Eng.

181

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“…Developments by Thakur et al have taken advantage of the interventionalist's dexterity skills in remote manipulation of conventional commercial catheters; in this design approach, the interventionalist directly applies push–pull and rotatory motions to a catheter travelling within a motion‐sensing device. As a result, the system in required minimal operator training and allowed for remote navigation using conventional and commercially available catheters.…”

Section: Introductionmentioning

confidence: 99%

“…In this study we addressed these limitations and developed a remote catheter navigation system (RCNS) that allows full 3‐DOF in manipulation of conventional steerable catheters, specifically catheters of various diameters, with a plunger mechanism for distal tip deflection. The new master–slave system design continues to take advantage of the user's existing dexterity: the user pushes/pulls and rotates a catheter handle and rotates a knob, similar to the manipulation of a conventional catheter handle.…”

Section: Introductionmentioning

confidence: 99%

Design, development and evaluation of a compact telerobotic catheter navigation system

Tavallaei

Gelman

Lavdas

et al. 2015

Robotics Computer Surgery

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“…Xiao et al [11] proposed a robotic catheter in master–slave fashion and attempted precise ablation using force feedback sensors to maintain optimal contact to the walls. Other improvements in robotic catheters include novel kinematics modeling or steering mechanisms [12–15]. …”

Section: Introductionmentioning

confidence: 99%

A novel four-wire-driven robotic catheter for radio-frequency ablation treatment

et al. 2014

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Purpose Robotic catheters have been proposed to increase the efficacy and safety of the radio-frequency ablation treatment. The robotized motion of current robotic catheters mimics the motion of manual ones—namely, deflection in one direction and rotation around the catheter. With the expectation that the higher dexterity may achieve further efficacy and safety of the robotically driven treatment, we prototyped a four-wire-driven robotic catheter with the ability to deflect in two- degree-of-freedom motions in addition to rotation. Methods A novel quad-directional structure with two wires was designed and developed to attain yaw and pitch motion in the robotic catheter. We performed a mechanical evaluation of the bendability and maneuverability of the robotic catheter and compared it with current manual catheters. Results We found that the four-wire-driven robotic catheter can achieve a pitching angle of 184.7° at a pulling distance of wire for 11mm, while the yawing angle was 170.4° at 11mm. The robotic catheter could attain the simultaneous two- degree-of-freedom motions in a simulated cardiac chamber. Conclusion The results indicate that the four-wire-driven robotic catheter may offer physicians the opportunity to intuitively control a catheter and smoothly approach the focus position that they aim to ablate.

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A Magnetic-Resonance-Imaging-Compatible Remote Catheter Navigation System

Cited by 27 publications

References 47 publications

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

From Passive Tool Holders to Microsurgeons: Safer, Smaller, Smarter Surgical Robots

Design, development and evaluation of a compact telerobotic catheter navigation system

A novel four-wire-driven robotic catheter for radio-frequency ablation treatment

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