Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System.
Iterative Jacobian-Based Inverse Kinematics and Open-Loop Control of an MRI-Guided Magnetically Actuated Steerable Catheter System.
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DOI：
10.1109/tmech.2017.2704526
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发表时间：
2017-08
期刊：
影响因子：
--
通讯作者：
Çavuşoğlu MC
中科院分区：
文献类型：
--
作者：
Liu T;Jackson R;Franson D;Poirot NL;Criss RK;Seiberlich N;Griswold MA;Çavuşoğlu MC
本文提出了一种基于迭代雅可比的逆运动学方法，用于MRI引导的磁驱动可操纵血管内导管系统。通过磁共振成像（MRI）扫描仪的磁场，在导管头端嵌入的一组载流微线圈上产生的磁扭矩直接驱动导管。使用导管偏转的三维运动学模型推导出将通过线圈的电流变化与头端位置变化相关的雅可比矩阵。通过迭代地应用雅可比矩阵的逆来数值计算逆运动学。阻尼最小二乘法的实施，以避免数值不稳定的问题，存在于计算过程中的逆雅可比矩阵。所提出的逆运动学方法的性能进行了验证，使用原型的机器人导管通过比较实际的轨迹，通过开环控制与所需的轨迹获得的导管尖端。再现性和准确性评价的结果表明，所提出的基于雅可比的逆运动学方法可以用于开环致动导管，以成功地执行房颤消融手术中所需的复杂消融轨迹。这项研究为在后续研究中利用MRI引导的实时反馈对机器人导管进行有效和准确的闭环控制铺平了道路。
This paper presents an iterative Jacobian-based inverse kinematics method for an MRI-guided magnetically-actuated steerable intravascular catheter system. The catheter is directly actuated by magnetic torques generated on a set of current-carrying micro-coils embedded on the catheter tip, by the magnetic field of the magnetic resonance imaging (MRI) scanner. The Jacobian matrix relating changes of the currents through the coils to changes of the tip position is derived using a three dimensional kinematic model of the catheter deflection. The inverse kinematics is numerically computed by iteratively applying the inverse of the Jacobian matrix. The damped least square method is implemented to avoid numerical instability issues that exist during the computation of the inverse of the Jacobian matrix. The performance of the proposed inverse kinematics approach is validated using a prototype of the robotic catheter by comparing the actual trajectories of the catheter tip obtained via open-loop control with the desired trajectories. The results of reproducibility and accuracy evaluations demonstrate that the proposed Jacobian-based inverse kinematics method can be used to actuate the catheter in open-loop to successfully perform complex ablation trajectories required in atrial fibrillation ablation procedures. This study paves the way for effective and accurate closed-loop control of the robotic catheter with real-time feedback from MRI guidance in subsequent research.