Position Control of Motion Compensation Cardiac Catheters

Abstract

Robotic catheters have the potential to revolutionize cardiac surgery by enabling minimally invasive structural repairs within the beating heart. This paper presents an actuated catheter system that compensates for the fast motion of cardiac tissue using 3D ultrasound image guidance. We describe the design and operation of the mechanical drive system and catheter module and analyze the catheter performance limitations of friction and backlash in detail. To mitigate these limitations, we propose and evaluate mechanical and control system compensation methods, including inverse and model-based backlash compensation, to improve the system performance. Finally, in vivo results are presented that demonstrate that the catheter can track the cardiac tissue motion with less than 1 mm RMS error. The ultimate goal of this research is to create a fast and dexterous robotic catheter system that can perform surgery on the delicate structures inside of the beating heart.

Cognitive AutonomouS CAtheters Operating in Dynamic Environments

“…Kesner et al introduced an approach for mitral valve repair featuring motion-compensation to account for heart beat. 55,56 While appealing, the system only deals with a single DoF, thus not allowing adjustment of the orientation. Vrooijink et.…”

“…the robotic catheter. 55,89 However, little discussion took place as to which mapping is good to start with. Especially when it concerns steering complex multi-DoF catheters in highly dynamic environments this is an non-trivial question.…”

Motion Compensation of Tendon-Sheath Driven Continuum Manipulator for Endoscopic Surgery

“…Samuel et al ([5], [6]) integrated the experiment results analysed by three-way ANOVA and gap width effect to build the backlash compensator for cardiac catheter. They also introduced a smoothing term in the compensator in order to smooth the transition when altering the tendon direction.…”

“…According to (6), assuming the input pulley rotates anti-clockwise, the tension at the output side can be expressed as:…”

“…Tendon-sheath is able to transmit force from one end to another end by fixing the two ends of the sheath and pulling the inner tendon, no matter how the configuration of the middle part changes. It has the superior in working in narrow space application, such as robot hand ( [2], [3], [4]), medical device ([5], [6]), industrial tele-operation system ( [7], [8]), surgical robot ( [9], [10]), etc.…”