Abstract
This paper presents a three-dimensional dynamic model for active catheters commonly implemented in cardiac ablation, and introduces nonlinear closed-form model-based control scheme. The dynamic model includes rotational, translational and bending effects, moreover entails simple formulation to be implemented in real-time clinical application. Then, Lyapunov-based position control strategy is developed to locate the catheter tip at the desired position. Results verify the viability of the introduced approach for its applicability in robot-assisted cardiac ablation.
Highlights
Invasive surgery (MIS) is a recent prevailing approach in diagnosis and treatment of percutaneous anatomical organs
The Niobe® is controlled remotely with two permanent magnets located on both sides of the patient’s bed. This system relies on magnetic navigation; it interferes with the metallic devices implanted in the body, which restricts its employment to metallic-free environments [3, 4]
The AmigoTM incorporates relatively less complicated and inexpensive remote catheter system, which can accommodate a range of commercially existing catheters [5]
Summary
Invasive surgery (MIS) is a recent prevailing approach in diagnosis and treatment of percutaneous anatomical organs. The recent work [23] has developed sliding mode controller for planar continuum robots based on the model presented in [11, 12]. To perform model-based robot-assisted catheter navigation, a three-dimensional catheter model as well as accurate position control incorporating all designated DOFs on the catheter is required. To this end, we elaborated dynamic model of the surgical tool for tip position control, while constant curvature approach is incorporated for kinematic modeling of it, which is shown to be accurate in the presence of small payloads [24]. A model of ablation catheter (SteeroCath-T, BostonScientific, Natick, MA) is adopted for the purpose of demonstration and control
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