Model Predictive Control of a Robotically Actuated Delivery Sheath for Beating Heart Compensation

Overview

Journal Int J Rob Res

Publisher MIT Press

Date 2019 Mar 1

PMID 30814767

Citations 4

Authors

Gustaaf J Vrooijink

Alper Denasi

Jan G Grandjean

Sarthak Misra

Affiliations

Soon will be listed here.

Abstract

Minimally invasive surgery (MIS) during cardiovascular interventions reduces trauma and enables the treatment of high-risk patients who were initially denied surgery. However, restricted access, reduced visibility and control of the instrument at the treatment locations limits the performance and capabilities of such interventions during MIS. Therefore, the demand for technology such as steerable sheaths or catheters that assist the clinician during the procedure is increasing. In this study, we present and evaluate a robotically actuated delivery sheath (RADS) capable of autonomously and accurately compensating for beating heart motions by using a model-predictive control (MPC) strategy. We develop kinematic models and present online ultrasound segmentation of the RADS that are integrated with the MPC strategy. As a case study, we use pre-operative ultrasound images from a patient to extract motion profiles of the aortic heart valve (AHV). This allows the MPC strategy to anticipate for AHV motions. Further, mechanical hysteresis in the steering mechanism is compensated for in order to improve tip positioning accuracy. The novel integrated system is capable of controlling the articulating tip of the RADS to assist the clinician during cardiovascular surgery. Experiments demonstrate that the RADS follows the AHV motion with a mean positioning error of 1.68 mm. The presented modelling, imaging and control framework could be adapted and applied to a range of continuum-style robots and catheters for various cardiovascular interventions.

Citing Articles

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Continuum Robots for Medical Interventions.

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Simulation of Delivery of Clip-Based Therapies Within Multimodality Images to Facilitate Preprocedural Planning.

Cianciulli A, Lasso A, Pinter C, Ching S, Ghosh R, Chen T J Am Soc Echocardiogr. 2021; 34(10):1111-1114.

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COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation.

Cheng L, Tavakoli M Front Robot AI. 2021; 7:594673.

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