Modeling and Validation of the Three-Dimensional Deflection of an MRI-Compatible Magnetically Actuated Steerable Catheter.
Modeling and Validation of the Three-Dimensional Deflection of an MRI-Compatible Magnetically Actuated Steerable Catheter.
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对磁性磁性驱动导管的三维挠度的建模和验证。
DOI：
10.1109/tbme.2015.2510743
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发表时间：
2016-10
期刊：
影响因子：
--
通讯作者：
Cavusoglu MC
中科院分区：
文献类型：
--
作者：
Liu T;Poirot NL;Franson D;Seiberlich N;Griswold MA;Cavusoglu MC
本文介绍了一种新型可操纵机器人消融导管系统的三维运动学建模。嵌入有一组载流微线圈的导管由磁共振成像（MRI）扫描仪的磁场产生的磁力驱动。本文采用有限差分法建立了MRI驱动的可控导管系统的三维模型。对于每个有限段，准静态扭矩-挠度平衡方程计算使用梁理论。利用偏转位移和扭转角，推导了导管系统的运动学模型。通过比较所提出的模型的仿真结果与导管设计的硬件原型的实验结果，所提出的模型进行了验证。最大尖端偏转误差为4.70 mm，形状估计的最大均方根（RMS）误差为3.48 mm。结果表明，该模型可以成功地估计导管的偏转运动。所提出的磁控导管设计的三维偏转模型为有效控制用于治疗房颤的机器人导管铺平了道路。
This paper presents the three dimensional kinematic modeling of a novel steerable robotic ablation catheter system. The catheter, embedded with a set of current-carrying micro-coils, is actuated by the magnetic forces generated by the magnetic field of the magnetic resonance imaging (MRI) scanner. This paper develops a 3D model of the MRI actuated steerable catheter system by using finite differences approach. For each finite segment, a quasi-static torque-deflection equilibrium equation is calculated using beam theory. By using the deflection displacements and torsion angles, the kinematic model of the catheter system is derived. The proposed models are validated by comparing the simulation results of the proposed model with the experimental results of a hardware prototype of the catheter design. The maximum tip deflection error is 4.70 mm and the maximum root-mean-square (RMS) error of the shape estimation is 3.48 mm. The results demonstrate that the proposed model can successfully estimate the deflection motion of the catheter. The presented three dimensional deflection model of the magnetically controlled catheter design paves the way to efficient control of the robotic catheter for treatment of atrial fibrillation.