MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

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Title: MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
Authors: Lee, KH
Fu, KCD
Guo, Z
Dong, Z
Leong, MCW
Cheung, CL
Lee, APW
Luk, W
Kwok, KW
Item Type: Journal Article
Abstract: This paper introduces a robotic manipulator to realize robot-assisted intracardiac catheterization in magnetic resonance imaging (MRI) environment. MRI can offer high-resolution images to visualize soft tissue features such as scars or edema. We hypothesize that robotic catheterization, combined with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety, accuracy, and effectiveness. This is designed particularly for cardiac electrophysiological (EP) intervention, which is an effective treatment of arrhythmia. We present the first MR Safe robot for intracardiac EP intervention. The robot actuation features small hysteresis, effective force transmission, and quick response, which has been experimentally verified for its capability to precisely telemanipulate a standard clinically used EP catheter. We also present timely techniques for real-time positional tracking in MRI and intraoperative image registration, which can be integrated with the presented manipulator to im prove the performance of teleoperated robotic catheterization.
Issue Date: 6-Feb-2018
Date of Acceptance: 21-Jan-2018
URI: http://hdl.handle.net/10044/1/58753
DOI: https://dx.doi.org/10.1109/TMECH.2018.2801787
ISSN: 1083-4435
Publisher: IEEE
Start Page: 586
End Page: 595
Journal / Book Title: IEEE/ASME Transactions on Mechatronics
Volume: 23
Issue: 2
Copyright Statement: © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor/Funder: Commission of the European Communities
Engineering & Physical Science Research Council (E
Engineering & Physical Science Research Council (EPSRC)
Funder's Grant Number: 671653
516075101 (EP/N031768/1)
EP/P010040/1
Keywords: 0906 Electrical And Electronic Engineering
0910 Manufacturing Engineering
0913 Mechanical Engineering
Industrial Engineering & Automation
Publication Status: Published
Appears in Collections:Faculty of Engineering
Computing



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