Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters

Khoshnam, Mahta; Skanes, Allan C.; Patel, Rajni V.

doi:10.1109/tbme.2015.2389615

Cited by 71 publications

(40 citation statements)

References 13 publications

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“…Back et al estimated the tip force using shape of the catheter and the Cosserat rod model [9]. Lastly, Khosnam et al used the curvature of a catheter, determined from camera images, in combination with a kinematic model to estimate the tip contact force [10].…”

Section: Introductionmentioning

confidence: 99%

Force sensing in continuum manipulators using fiber Bragg grating sensors

Khan

Roesthuis

Misra

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The presence of force feedback in medical instruments has been proven to reduce tissue damage. In order to provide force feedback, information about the interaction forces between the instrument and the environment must be known. Direct measurement of these forces by commercial sensors is not feasible due to space limitations. Thus, in this study we propose to estimate the interaction forces using strain measurements from Fiber Bragg Grating (FBG) sensors. These measurements can also be used for shape sensing and as a result both force and shape can be sensed simultaneously. For force sensing two models are proposed and compared. The first is based on a Rigid Link approximation, while the second uses the Cosserat rod theory. The models are validated experimentally using a tendon-driven continuum manipulator that is subjected to forces at the tip. The force estimates from the models are compared to the measurements from a commercial force sensor. Mean absolute errors of 11.2 mN (6.9%) and 15.9 mN (8.3%) are observed for the Rigid Link model and Cosserat model, respectively.

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Section: Introductionmentioning

confidence: 99%

Force sensing in continuum manipulators using fiber Bragg grating sensors

Khan

Roesthuis

Misra

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…Previous literatures have reported a few of steerable catheters, where most of the catheters have the symmetric structure with the compliant bends [8]- [10]. A quad-directional catheter made of polypropylene using rapid prototyping, which can achieve the large pitching and yawing angles [11].…”

Section: Motivationmentioning

confidence: 99%

A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation

Gao

Zou

Liang

et al. 2017

IEEE Robot. Autom. Lett.

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Abstract-Electrical isolation using the ablation catheter has been widely used as the golden standard for the treatment of atrial fibrillation. Clinical practice shows that the tip orientation affects the formation of the effective lesion size. However, the traditional unidirectional or bidirectional catheter with the compliant bending shapes cannot provide great orientation capability to target the lesion paths asymmetric to the catheter's entry point. In this letter, we propose a two-dimensional (2-D) tendon-actuated asymmetric catheter to render two different bending characteristics to adapt to the special anatomy. The contact-aided compliant mechanism is adopted by designing the asymmetric blocks to form the self-collision in one lateral bending direction. Kinematics with asymmetric bends under the free bend and constraint bend are investigated. The algorithm of 3-D path exploration in the confined workspace is proposed to validate the reachability. The bending angles of two asymmetric bends are compared and the 3-D phantom study is carried out to validate its effectiveness. Results indicate that the contact-aided compliant mechanism can be integrated with the steerable catheter successfully to help form the different bending characteristics, finally improving the tip orientation capability to the specific ablation line lesions.Index Terms-Asymmetric bend, contact-aided compliant mechanism, path exploration, steerable catheter.

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“…For some deformable instruments, the interaction force can be estimated through measuring the instrument deformation. For example, Khoshnam et al used the shape changes of the Steerable Ablation Catheters to estimate the contact forces between the catheter tip and cardiac tissue[10]. For rigid instruments, such as elongated grippers, motors drive cables and the output energy of motors is partially consumed by friction, converts to kinetic energy and forms the gripping force.…”

Section: Introductionmentioning

confidence: 99%

Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments

Hannaford

2017

IEEE Robot. Autom. Lett.

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Haptic feedback is a critical but a clinically missing component in robotic Minimally Invasive Surgeries. This paper proposes a Gaussian Process Regression(GPR) based scheme to address the gripping force estimation problem for clinically commonly used elongated cable-driven surgical instruments. Based on the cable-driven mechanism property studies and surgical robotic system properties, four different Gaussian Process Regression filters were designed and analyzed, including: one GPR filter with 2-dimensional inputs, one GPR filter with 3-dimensional inputs, one GPR Unscented Kalman Filter (UKF) with 2-dimensional inputs, and one GPR UKF with 3-dimensional inputs. The four proposed methods were compared with the dynamic model based UKF filter on a 10mm gripper on the Raven-II surgical robot platform. The experimental results demonstrated that the four proposed methods outperformed the dynamic model based method on precision and reliability without parameter tuning. And surprisingly, among the four methods, the simplest GPR Filter with 2-dimensional inputs has the best performance.

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Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters

Abstract: This study proves that the flexibility of the catheter's distal shaft provides a means of estimating the force exerted on tissue by the ablation tip.

Cited by 71 publications

References 13 publications

Force sensing in continuum manipulators using fiber Bragg grating sensors

Force sensing in continuum manipulators using fiber Bragg grating sensors

A Contact-Aided Asymmetric Steerable Catheter for Atrial Fibrillation Ablation

Gaussian Process Regression for Sensorless Grip Force Estimation of Cable-Driven Elongated Surgical Instruments

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