Sensor-free Force Control of Tendon-driven Ablation Catheters through Position Control and Contact Modeling

Jolaei, Mohammad; Hooshiar, Amir; Sayadi, Amir; Dargahi, Javad; Packirisamy, Muthukumaran

doi:10.1109/embc44109.2020.9176019

Cited by 21 publications

(4 citation statements)

References 17 publications

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“…Mohammad Jolaei,Amir Hooshiar et al [1]. The research proposes a sensor-free force control method for tendon-driven catheters used in cardiac procedures.…”

Section: Review Of Literaturementioning

confidence: 99%

SMART MONITORING SYSTEM FOR EARLY DETECTION OF URINE BLOCKAGE IN SUPRAPUBIC CATHETERS THROUGH IoT INTEGRATION

2024

IRJMETS

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This research presents an innovative method for monitoring suprapubic catheters to detect urine blockages early on, leveraging a Smart Monitoring System seamlessly integrated with the Internet of Things (IoT). The core of this system involves affixing a temperature sensor to the external surface of the catheter tube. Real-time analysis of variations in urine temperature becomes instrumental in promptly identifying potential blockages. By doing so, the proposed system holds the promise of significantly advancing patient care through its capacity to facilitate timely medical interventions driven by precise and continuous monitoring. The fusion of IoT technology with the temperature sensor establishes a dynamic framework, allowing for the swift detection of anomalies in urinary flow, thus ushering in a new era of proactive healthcare management. This research strives to address existing limitations in catheter monitoring methods, particularly the reliance on manual observations, by introducing a sophisticated and automated solution that not only enhances the accuracy of diagnostics but also ensures a more proactive and responsive approach to patient well-being.

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“…Mohammad Jolaei,Amir Hooshiar et al [1]. The research proposes a sensor-free force control method for tendon-driven catheters used in cardiac procedures.…”

Section: Review Of Literaturementioning

confidence: 99%

SMART MONITORING SYSTEM FOR EARLY DETECTION OF URINE BLOCKAGE IN SUPRAPUBIC CATHETERS THROUGH IoT INTEGRATION

2024

IRJMETS

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“…Robot-assisted surgeries have evolved over the years to handle more advanced medical procedures [24]- [30]. This emphasizes the importance of an actuating system that allows…”

Section: Actuation Mechanisms In Mri-guided Medical Interventionsmentioning

confidence: 99%

Actuation Mechanisms Used in MRI-Compatible Robotic Surgeries: A Review

How¹

2023

IJERMCE

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There has been increasing use of robotic surgery over the years, as it has evolved as an improvement over minimally invasive surgery (MIS), where a surgeon can use a tele-manipulator to operate on a patient. Magnetic resonance imaging (MRI) has become the leading form of image acquisition due to its ability to produce high resolution images during robotically assisted MIS. However, the MRI scanner places conditions on the robots that allow only certain compatible actuation methods used in the robotic system to negate large interference that hinders the image quality. The current review focused on the four main MRI-compatible actuation mechanisms: hydraulic, pneumatic, piezoelectric, and shape memory alloy. This review mainly discussed signal-to-noise ratio (SNR) reduction, performance, and limitations from the recent publications on MRI-compatible robotic surgeries. Favorable MRI compatibility with low SNR reduction, performance, and simple implementation was observed to be the most important characteristics of a proper actuation mechanism for MRI robotic surgeries. After reviewing each approach, it was concluded that shape memory alloy, despite having a form of limitation, demonstrated to be more favorable compared to other actuation methods because of factors such as low cost, negligible SNR reduction, and high-power output for medical interventions

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“…As their deformations are the direct reflection of external forces, their shapes can be used to estimate these interactions. This approach has been investigated using different deformation sensors as Bragg fibers [8], [9], [10] or cable tension sensors [11].…”

Section: Introductionmentioning

confidence: 99%