Compensation for unconstrained catheter shaft motion in cardiac catheters

Alperen Degirmenci, Paul M. Loschak, Cory M. Tschabrunn, Elad Anter, Robert D. Howe

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Cardiac catheterization with ultrasound (US) imaging catheters provides real time US imaging from within the heart, but manually navigating a four degree of freedom (DOF) imaging catheter is difficult and requires extensive training. Existing work has demonstrated robotic catheter steering in constrained bench top environments. Closed-loop control in an unconstrained setting, such as patient vasculature, remains a significant challenge due to friction, backlash, and physiological disturbances. In this paper we present a new method for closed-loop control of the catheter tip that can accurately and robustly steer 4-DOF cardiac catheters and other flexible manipulators despite these effects. The performance of the system is demonstrated in a vasculature phantom and an in vivo porcine animal model. During bench top studies the robotic system converged to the desired US imager pose with sub-millimeter and sub-degree-level accuracy. During animal trials the system achieved 2.0 mm and 0.65° accuracy. Accurate and robust robotic navigation of flexible manipulators will enable enhanced visualization and treatment during procedures.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4436-4442
Number of pages7
ISBN (Electronic)9781467380263
DOIs
StatePublished - 8 Jun 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Conference

Conference2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Country/TerritorySweden
CityStockholm
Period16/05/1621/05/16

Funding

FundersFunder number
Harvard University John A. Paulson School of Engineering and Applied Sciences
National Institutes of Health1R21EB018938
American Heart Association15PRE22710043
NVIDIA

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