Autonomous robot-assisted active catheter insertion using image guidance
ABSTRACT In this paper, we investigate autonomous robot- assisted insertion of an active catheter instrumented with shape memory alloy (SMA) actuators using image guidance. An Augmented Hybrid Impedance Control (AHIC) algorithm is implemented on a Mitsubishi robot (PA 10-7C) to insert the active catheter. The robot is constrained to move in Cartesian space along a pre-defined trajectory while controlling the force of insertion. A closed-loop control scheme has been developed to accurately control the bending in the active catheter. The tip of the active catheter is tracked in real-time to provide information on the path of the catheter and for determining the future course of insertion. The catheter is autonomously guided from the point of entry to the site of plaque buildup, thereby shielding the surgeon from the harmful radiation due to the X-rays used for imaging, providing a more ergonomic approach for catheter insertion. Experimental results are given to illustrate the robot-assisted catheter insertion procedure.
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ABSTRACT: The emergence of the active catheter has prompted the development of catheterization in minimally invasive surgery. However, it is still operated using only the physician's vision; information supplied by the guiding image and tracking sensors has not been fully utilized. In order to supply the active catheter with more useful information for automatic navigation, we extract the skeleton of blood vessels by means of an improved distance transform method, and then present the crucial geometric information determining navigation. With the help of tracking sensors' position and pose information, two operations, advancement in the proximal end and direction selection in the distal end, are alternately implemented to insert the active catheter into a target blood vessel. The skeleton of the aortic arch reconstructed from slice images is extracted fast and automatically. A navigation path is generated on the skeleton by manually selecting the start and target points, and smoothed with the cubic cardinal spline curve. Crucial geometric information determining navigation is presented, as well as requirements for the catheter entering the target blood vessel. Using a shape memory alloy active catheter integrated with magnetic sensors, an experiment is carried out in a vascular model, in which the catheter is successfully inserted from the ascending aorta, via the aortic arch, into the brachiocephalic trunk. The navigation strategy proposed in this paper is feasible and has the advantage of increasing the automation of catheterization, enhancing the manoeuvrability of the active catheter and providing the guiding image with desirable interactivity.International Journal of Medical Robotics and Computer Assisted Surgery 06/2009; 5(2):125-35. DOI:10.1002/rcs.234 · 1.53 Impact Factor
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ABSTRACT: Robotic catheters are gaining widespread use in the medical community for cardiac, neurological and other surgical interventions. However, many of the catheters used in these procedures exhibit non-linear behavior, and thus present many difficulties in implementing effective open-loop control. Systems such as this have been shown to benefit from closed-loop control, however very little investigation has been done into 3D closed loop control of this class of manipulators. Initial investigations by the authors have shown greatly improved positioning accuracy and response with closed-loop control based on feedback from an electromagnetic localization sensor. This paper describes the control approach and experimental results, and provides a robotic catheter system overview.IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011; 01/2011
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ABSTRACT: Continuum manipulators are gaining widespread acceptance in commercial robotics, particularly in the medical field, where their compliance allows a large benefit for patient safety. However, this compliance also makes precise position control of these manipulators quite difficult. This paper presents two closed-loop control implementations applied to a small scale continuum manipulator. These implementations are both based on manipulator tip position feedback from an electromagnetic sensor. The command tracking and disturbance rejection properties of the two control implementations are shown to be approximately equivalent, and provide improved position control when compared to open-loop control, without sacrificing system stability.Proceedings - IEEE International Conference on Robotics and Automation 01/2012; DOI:10.1109/ICRA.2012.6224735