Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation
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| Titel: | Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation |
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| Autoren: | Jung Chan Lee, Kyung Sun, Jaesoon Choi, Yongdoo Park, Hui Nam Pak, Seung Min Shin, Jun Woo Park, Seung Joon Song |
| Weitere Verfasser: | Jun Woo Park, Jaesoon Choi, Hui-Nam Pak, Seung Joon Song, Jung Chan Lee, Yongdoo Park, Seung Min Shin, Kyung Sun, Pak, Hui Nam |
| Quelle: | Artificial Organs. 34:1034-1039 |
| Verlagsinformationen: | Wiley, 2010. |
| Publikationsjahr: | 2010 |
| Schlagwörter: | Time Factors, 0206 medical engineering, Force‐reflecting platform, 02 engineering and technology, Robotics/instrumentation, Feedback, User-Computer Interface, 03 medical and health sciences, 0302 clinical medicine, Software Design, Materials Testing, Computer-Assisted/instrumentation, Motion control, Cardiac catheterization, Robotics, Catheter Ablation/instrumentation, Catheter Ablation/methods, Robotic catheter navigation, Force feedback, Surgery, Computer-Assisted, Torque, Catheter Ablation, Surgery, Algorithms |
| Beschreibung: | Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force‐reflecting robotic catheter navigation system. The system is a network‐based master–slave configuration having a 3‐degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions—forward and backward movements, rolling, and catheter tip bending—are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real‐time operating system‐based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady‐state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. |
| Publikationsart: | Article |
| Dateibeschreibung: | 1034~1039 |
| Sprache: | English |
| ISSN: | 1525-1594 0160-564X |
| DOI: | 10.1111/j.1525-1594.2010.01142.x |
| Zugangs-URL: | https://pubmed.ncbi.nlm.nih.gov/21092046 https://yonsei.pure.elsevier.com/en/publications/development-of-a-force-reflecting-robotic-platform-for-cardiac-ca https://www.ncbi.nlm.nih.gov/pubmed/21092046 https://koreauniv.pure.elsevier.com/en/publications/development-of-a-force-reflecting-robotic-platform-for-cardiac-ca https://snucm.elsevierpure.com/en/publications/development-of-a-force-reflecting-robotic-platform-for-cardiac-ca https://onlinelibrary.wiley.com/doi/10.1111/j.1525-1594.2010.01142.x |
| Rights: | Wiley Online Library User Agreement CC BY NC ND |
| Dokumentencode: | edsair.doi.dedup.....b1b8d56f20fff4cdbd5edc5a44aa0a1d |
| Datenbank: | OpenAIRE |
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Nájsť tento článok vo Web of Science | Abstract: | Electrophysiological catheters are used for both diagnostics and clinical intervention. To facilitate more accurate and precise catheter navigation, robotic cardiac catheter navigation systems have been developed and commercialized. The authors have developed a novel force‐reflecting robotic catheter navigation system. The system is a network‐based master–slave configuration having a 3‐degree of freedom robotic manipulator for operation with a conventional cardiac ablation catheter. The master manipulator implements a haptic user interface device with force feedback using a force or torque signal either measured with a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator is a robotic motion control platform on which the cardiac ablation catheter is mounted. The catheter motions—forward and backward movements, rolling, and catheter tip bending—are controlled by electromechanical actuators located in the slave manipulator. The control software runs on a real‐time operating system‐based workstation and implements the master/slave motion synchronization control of the robot system. The master/slave motion synchronization response was assessed with step, sinusoidal, and arbitrarily varying motion commands, and showed satisfactory performance with insignificant steady‐state motion error. The current system successfully implemented the motion control function and will undergo safety and performance evaluation by means of animal experiments. Further studies on the force feedback control algorithm and on an active motion catheter with an embedded actuation mechanism are underway. |
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| ISSN: | 15251594 0160564X |
| DOI: | 10.1111/j.1525-1594.2010.01142.x |