التفاصيل البيبلوغرافية
| العنوان: |
Path tracking control of a steerable catheter in transcatheter cardiology interventions. |
| المؤلفون: |
Zhang, Xiu, Sridhar, Aditya, Ha, Xuan Thao, Mehdi, Syed Zain, Fortuna, Andrea, Magro, Mattia, Peloso, Angela, Bicchi, Anna, Ourak, Mouloud, Aliverti, Andrea, Votta, Emiliano, Vander Poorten, Emmanuel, De Momi, Elena |
| المصدر: |
International Journal of Computer Assisted Radiology & Surgery; Apr2024, Vol. 19 Issue 4, p757-766, 10p |
| مستخلص: |
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. [ABSTRACT FROM AUTHOR] |
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| قاعدة البيانات: |
Complementary Index |
