{"title":"A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter.","authors":"Ran Hao, M Cenk Çavuşoğlu","doi":"10.1115/1.4050692","DOIUrl":null,"url":null,"abstract":"<p><p>The disturbances caused by the blood flow and tissue surface motions are major concerns during the motion planning of an intracardiac robotic catheter. Maintaining a stable and safe contact on the desired ablation point is essential for achieving effective lesions during the ablation procedure. In this paper, a probabilistic formulation of the contact stability and the contact safety for intravascular cardiac catheters under the blood flow and surface motion disturbances is presented. Probabilistic contact stability and contact safety metrics, employing a sample-based representation of the blood flow velocity distribution and the heart motion trajectory, are introduced. Finally, the contact stability and safety for an magnetic resonance imaging-actuated robotic catheter under main pulmonary artery blood flow disturbances and left ventricle surface motion disturbances are analyzed in simulation as example scenarios.</p>","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2021-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8299815/pdf/ds-20-1466_094502.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1115/1.4050692","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2021/5/10 0:00:00","PubModel":"Epub","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
The disturbances caused by the blood flow and tissue surface motions are major concerns during the motion planning of an intracardiac robotic catheter. Maintaining a stable and safe contact on the desired ablation point is essential for achieving effective lesions during the ablation procedure. In this paper, a probabilistic formulation of the contact stability and the contact safety for intravascular cardiac catheters under the blood flow and surface motion disturbances is presented. Probabilistic contact stability and contact safety metrics, employing a sample-based representation of the blood flow velocity distribution and the heart motion trajectory, are introduced. Finally, the contact stability and safety for an magnetic resonance imaging-actuated robotic catheter under main pulmonary artery blood flow disturbances and left ventricle surface motion disturbances are analyzed in simulation as example scenarios.
期刊介绍:
The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.