Abstract
Catheter-based endovascular interventional procedures have become increasingly popular in recent years as they are less invasive and patients spend less time in the hospital with less recovery time and less pain. These advantages have led to a significant growth in the number of procedures that are performed annually. However, it is still challenging to position a catheter in a target vessel branch within the highly complicated and delicate vascular structure. In fact, vessel tortuosity and angulation, which cause difficulties in catheterization and reaching the target site, have been reported as the main causes of failure in endovascular procedures. Maneuverability of a catheter for intravascular navigation is a key to reaching the target area; ability of a catheter to move within the target vessel during trajectory tracking thus affects to a great extent the length and success of the procedure. To address this issue, this paper models soft catheter robots with multiple actuators and provides a time-dependent model for characterizing the dynamics of multi-actuator soft catheter robots. Built on this model, an efficient and scalable optimization-based framework is developed for guiding the catheter to pass through arteries and reach the target where an aneurysm is located. The proposed framework models the deflection of the multi-actuator soft catheter robot and develops a control strategy for movement of catheter along a desired trajectory. This provides a simulation-based framework for selection of catheters prior to endovascular catheterization procedures, assuring that given a fixed design, the catheter is able to reach the target location. The results demonstrate the benefits that can be achieved by design and control of catheters with multiple number of actuators for navigation into small vessels.
Highlights
A cerebral aneurysm is a weak or thin spot on an artery in the brain that bulges outwards like a balloon due to the pressure of the blood being pumped through the artery Brisman et al (2006)
This paper addresses the limited maneuverability of conventional micro-catheters and the challenges of control and actuation by deriving a dynamic model for soft catheter robots with multiple pneumatic actuators
Constant curvature modeling has been widely used in soft robotics due to the simplifications it enables in kinematic modeling Webster and Jones (2010)
Summary
A cerebral aneurysm is a weak or thin spot on an artery in the brain that bulges outwards like a balloon due to the pressure of the blood being pumped through the artery Brisman et al (2006). The proposed framework formulates the navigation of multi-actuator soft catheter robot as a constrained optimization problem The solution to this optimization problem sets the sequence of moments to be exerted by the actuators as well as the insertion depth needed to move the multiactuator soft catheter along the desired trajectory in such a way that the stress on the vessel wall is minimized. The proposed framework provides a collaborative robotic catheterization within different anatomical geometries by independent control of insertion and bending moments It develops a simulation-based strategy for selection of the catheter with proper number of actuators prior to endovascular catheterization procedures. By selecting the number of actuators prior to procedures, the number of insertions and retractions normally used by clinicians to guide the catheter correctly into a desired branch to reach the aneurysm location can be reduced considerably, thereby preventing or reducing the possibility of damage to the arteries during the endovascular catheterization procedures.
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