학술논문
Path tracking control of a steerable catheter in transcatheter cardiology interventions.
Document Type
Academic Journal
Author
Zhang X; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy. xiu.zhang@polimi.it.; Sridhar A; Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.; Ha XT; Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.; Mehdi SZ; Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.; Fortuna A; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.; Magro M; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.; Peloso A; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.; Bicchi A; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.; Ourak M; Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.; Aliverti A; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.; Votta E; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.; Vander Poorten E; Department of Mechanical Engineering, KU Leuven, 3001, Leuven, Belgium.; De Momi E; Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133, Milan, Italy.
Source
Publisher: Springer Country of Publication: Germany NLM ID: 101499225 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 1861-6429 (Electronic) Linking ISSN: 18616410 NLM ISO Abbreviation: Int J Comput Assist Radiol Surg Subsets: MEDLINE
Subject
Language
English
Abstract
Purpose: Intracardiac transcatheter interventions allow for reducing trauma and hospitalization stays as compared to standard surgery. In the treatment of mitral regurgitation, the most widely adopted transcatheter approach consists in deploying a clip on the mitral valve leaflets by means of a catheter that is run through veins from a peripheral access to the left atrium. However, precise manipulation of the catheter from outside the body while copying with the path constraints imposed by the vessels remains challenging.
Methods: We proposed a path tracking control framework that provides adequate motion commands to the robotic steerable catheter for autonomous navigation through vascular lumens. The proposed work implements a catheter kinematic model featuring nonholonomic constraints. Relying on the real-time measurements from an electromagnetic sensor and a fiber Bragg grating sensor, a two-level feedback controller was designed to control the catheter.
Results: The proposed method was tested in a patient-specific vessel phantom. A median position error between the center line of the vessel and the catheter tip trajectory was found to be below 2 mm, with a maximum error below 3 mm. Statistical testing confirmed that the performance of the proposed method exhibited no significant difference in both free space and the contact region.
Conclusion: The preliminary in vitro studies presented in this paper showed promising accuracy in navigating the catheter within the vessel. The proposed approach enables autonomous control of a steerable catheter for transcatheter cardiology interventions without the request of calibrating the intuitive parameters or acquiring a training dataset.
(© 2024. The Author(s).)
Methods: We proposed a path tracking control framework that provides adequate motion commands to the robotic steerable catheter for autonomous navigation through vascular lumens. The proposed work implements a catheter kinematic model featuring nonholonomic constraints. Relying on the real-time measurements from an electromagnetic sensor and a fiber Bragg grating sensor, a two-level feedback controller was designed to control the catheter.
Results: The proposed method was tested in a patient-specific vessel phantom. A median position error between the center line of the vessel and the catheter tip trajectory was found to be below 2 mm, with a maximum error below 3 mm. Statistical testing confirmed that the performance of the proposed method exhibited no significant difference in both free space and the contact region.
Conclusion: The preliminary in vitro studies presented in this paper showed promising accuracy in navigating the catheter within the vessel. The proposed approach enables autonomous control of a steerable catheter for transcatheter cardiology interventions without the request of calibrating the intuitive parameters or acquiring a training dataset.
(© 2024. The Author(s).)