Design of a Magnetic Resonance Imaging Guided Magnetically Actuated Steerable Catheter

Abstract

This paper presents design optimization of a magnetic resonance imaging (MRI) actuated steerable catheter for atrial fibrillation ablation in the left atrium. The catheter prototype, built over polymer tubing, is embedded with current-carrying electromagnetic coils. The prototype can be deflected to a desired location by controlling the currents passing through the coils. The design objective is to develop a prototype that can successfully accomplish the ablation task. To complete the tasks, the catheter needs to be capable of reaching a set of desired targets selected by a physician on the chamber and keeping a stable contact with the chamber surface. The design process is based on the maximization of the steering performance of the catheter by evaluating its workspace in free space. The selected design is validated by performing a simulation of an ablation intervention on a virtual model of the left atrium with a real atrium geometry. This validation shows that the prototype can reach every target required by the ablation intervention and provide an appropriate contact force against the chamber.

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

“…The open-loop accuracy level makes it reasonable to expect that a closed-loop control system can achieve the desired 1 mm accuracy level. Closed-loop catheter control, modeling of catheter-surface contact, and heat management of the coils [47] are important challenges, which will be subjects of our future work. Currently, most surgical robotic systems (e.g., [5, 45, 46]) are operated in open-loop, relying on teleoperation of the operator using doctor-in-the-loop paradigm to steer the system relative to the anatomy.…”

“…The direction and amplitude of the magnetic torque are determined by the cross product of the magnetic moment from each coil and the magnetic field. The workspace of the proposed catheter with multiple coil sets is analyzed for optimization of the catheter design by Liu et al [47]. …”

Magnetic Resonance Imaging System–Driven Medical Robotics

“…Liu et al developed and validated a 3D kinematic model and control of 3 F MRI‐steerable catheters within 3 T MR scanners designed specifically for accessing the workspace of the heart for atrial fibrillation . This model was later improved with a design optimization of an MRI‐driven catheter given more than one coil set …”

Wireless MRI‐Powered Reversible Orientation‐Locking Capsule Robot

“…[5] The initial studies of this concept have been explored in MRI-based actuation, precise position control, and design and actuation of tethered medical devices (e.g., catheters) for various medical operations. [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24] There are three types of electromagnets inside MRI devices. These electromagnets are the main magnet, gradient coils, and RF excitation coil.…”