MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
| Autor: | Ziyan Guo, Kin Chung Denny Fu, Martin C. W. Leong, Ziyang Dong, Kit-Hang Lee, Chim-Lee Cheung, Ka-Wai Kwok, Wayne Luk, Alex Pui-Wai Lee |
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| Přispěvatelé: | Commission of the European Communities, Engineering & Physical Science Research Council (E, Engineering & Physical Science Research Council (EPSRC) |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science Robot manipulator Image registration 02 engineering and technology Intracardiac injection 030218 nuclear medicine & medical imaging 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine medicine Electrical and Electronic Engineering medicine.diagnostic_test Effective force 0906 Electrical And Electronic Engineering technology industry and agriculture Magnetic resonance imaging 0910 Manufacturing Engineering Computer Science Applications Industrial Engineering & Automation surgical procedures operative Control and Systems Engineering Teleoperation Robot human activities Mri guided 0913 Mechanical Engineering Biomedical engineering |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 23:586-595 |
| ISSN: | 1941-014X 1083-4435 |
| DOI: | 10.1109/tmech.2018.2801787 |
| Popis: | This paper introduces a robotic manipulator to realize robot-assisted intracardiac catheterization in magnetic resonance imaging (MRI) environment. MRI can offer high-resolution images to visualize soft tissue features such as scars or edema. We hypothesize that robotic catheterization, combined with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety, accuracy, and effectiveness. This is designed particularly for cardiac electrophysiological (EP) intervention, which is an effective treatment of arrhythmia. We present the first MR Safe robot for intracardiac EP intervention. The robot actuation features small hysteresis, effective force transmission, and quick response, which has been experimentally verified for its capability to precisely telemanipulate a standard clinically used EP catheter. We also present timely techniques for real-time positional tracking in MRI and intraoperative image registration, which can be integrated with the presented manipulator to im prove the performance of teleoperated robotic catheterization. |
| Databáze: | OpenAIRE |
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