A Deep Learning Model for Tip Force Estimation on Steerable Catheters Via Learning-From-Simulation

M. Roshanfar, Pedram Fekri, J. Dargahi
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Abstract

Atrial Fibrillation (AFib) is the most common arrhyth- mia among the elderly population, where electrical activity becomes chaotic, leading to blood clots and strokes. During Radio Frequency Ablation (RFA), the arrhythmogenic sites within the cardiac tissue are burned off to reduce the undesired pulsation. Manual catheters are used for most atrial ablations, however, robotic catheter intervention systems provide more precise map- ping. Several studies showed excessive contact forces (> 0.45 N) increase the incidence of tissue perforation, while inadequate force (< 0.1 N) results in ineffective ablation. Fig.1 shows a schematic of a cardiac RFA catheter used for AFib treatment. For robot-assisted RFA to be safe and effective, real-time force estimation of catheter’s tip is required. As a solution, finite element (FE) analysis can provide a useful tool to estimate the real-time tip contact force. In this work, a nonlinear planar FE model of a steerable catheter was first developed with parametric material properties in ANSYS software. After that, a series of simulations based on each mechanical property was performed, and the deformed shape of the catheter was recorded. Next, validation was conducted by comparing the results of the simulation with experimental results between the range of 0-0.45 N to determine the material properties. Despite the previous work, which was a study to estimate the tip contact force of a catheter using a deep convolutional neural network [1], [2], the main contribution of this study was proposing a synthetic data generation, so as to train a light deep learning (DL) architecture for tip force estimation according to the FE simulations. Due to the availability of real-time X-ray images during RFA procedures (fluoroscopy), the shape of the catheter is available intraoperatively. The proposed solution not only feeds the data-hungry methods based on DL with a sufficient amount of data, but also shows the feasibility of replacing the fast, accurate, and light-weight learning-based methods with slow simulations.
基于模拟学习的可操纵导管尖端力估计深度学习模型
心房颤动(AFib)是老年人群中最常见的心律失常,其中电活动变得混乱,导致血栓和中风。在射频消融术(RFA)中,心脏组织内的致心律失常部位被烧掉以减少不希望的搏动。手动导管用于大多数心房消融,然而,机器人导管介入系统提供更精确的定位。一些研究表明,过大的接触力(> 0.45 N)会增加组织穿孔的发生率,而作用力不足(< 0.1 N)会导致消融无效。图1显示用于AFib治疗的心脏RFA导管示意图。为了使机器人辅助射频消融安全有效,需要对导管尖端进行实时力估计。作为解决方案,有限元分析可以提供一个有用的工具来估计实时尖端接触力。本文首先在ANSYS软件中建立了具有参数化材料特性的可操纵导管的非线性平面有限元模型。然后,根据各种力学性能进行一系列的模拟,并记录导管的变形形状。接下来,在0-0.45 N范围内,将模拟结果与实验结果进行对比验证,确定材料性能。尽管之前的工作是使用深度卷积神经网络估计导管尖端接触力的研究[1],[2],但本研究的主要贡献在于提出了一种合成数据生成方法,从而根据有限元模拟训练出用于尖端力估计的轻型深度学习(DL)架构。由于RFA过程中实时x线图像的可用性(透视),术中导管的形状是可用的。提出的解决方案不仅为基于深度学习的数据饥渴型方法提供了足够的数据量,而且表明了用慢速模拟取代快速、准确、轻量级的基于学习的方法的可行性。
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