Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation
Identifieur interne : 003C78 ( Istex/Corpus ); précédent : 003C77; suivant : 003C79Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation
Auteurs : Jun Woo Park ; Jaesoon Choi ; Hui Am Pak ; Seung Joon Song ; Jung Chan Lee ; Yongdoo Park ; Seung Min Shin ; Kyung SunSource :
- Artificial Organs [ 0160-564X ] ; 2010-11.
English descriptors
- KwdEn :
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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DOI: 10.1111/j.1525-1594.2010.01142.x
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Korea University</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation></affiliation></author><author><name sortKey="Shin, Seung Min" sort="Shin, Seung Min" uniqKey="Shin S" first="Seung Min" last="Shin">Seung Min Shin</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Thoracic and Cardiovascular Surgery</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno 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Choi</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation></affiliation></author><author><name sortKey="Pak, Hui Am" sort="Pak, Hui Am" uniqKey="Pak H" first="Hui Am" last="Pak">Hui Am Pak</name><affiliation><mods:affiliation>Department of Cardiology, Yonsei University Health System, Seoul, Korea</mods:affiliation></affiliation></author><author><name sortKey="Song, Seung Joon" sort="Song, Seung Joon" uniqKey="Song S" first="Seung Joon" last="Song">Seung Joon Song</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation></affiliation></author><author><name sortKey="Lee, Jung Chan" sort="Lee, Jung Chan" uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan Lee</name><affiliation><mods:affiliation>Institute of Medical and Biological Engineering, Medical Research Center, Seoul National University</mods:affiliation></affiliation></author><author><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation></affiliation></author><author><name sortKey="Shin, Seung Min" sort="Shin, Seung Min" uniqKey="Shin S" first="Seung Min" last="Shin">Seung Min Shin</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation></affiliation><affiliation><mods:affiliation>Department of Thoracic and Cardiovascular Surgery</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="j">Artificial Organs</title><idno type="ISSN">0160-564X</idno><idno type="eISSN">1525-1594</idno><imprint><publisher>Blackwell Publishing Inc</publisher><pubPlace>Malden, USA</pubPlace><date type="published" when="2010-11">2010-11</date><biblScope unit="volume">34</biblScope><biblScope unit="issue">11</biblScope><biblScope unit="page" from="1034">1034</biblScope><biblScope unit="page" to="1039">1039</biblScope></imprint><idno type="ISSN">0160-564X</idno></series><idno type="istex">AA862CB2E4D61B1A2545D201059D4A1F381B1854</idno><idno type="DOI">10.1111/j.1525-1594.2010.01142.x</idno><idno type="ArticleID">AOR1142</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0160-564X</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Cardiac catheterization</term><term>Force feedback</term><term>Force‐reflecting platform</term><term>Motion control</term><term>Robotic catheter navigation</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">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.</div></front></TEI><istex><corpusName>wiley</corpusName><author><json:item><name>Jun Woo Park</name><affiliations><json:string>Korea Artificial Organ Center, Korea University</json:string><json:string>Department of Biomedical Engineering</json:string></affiliations></json:item><json:item><name>Jaesoon Choi</name><affiliations><json:string>Korea Artificial Organ Center, Korea University</json:string><json:string>Brain Korea 21 Project for Biomedical Science</json:string></affiliations></json:item><json:item><name>Hui‐Nam Pak</name><affiliations><json:string>Department of Cardiology, Yonsei University Health System, Seoul, Korea</json:string></affiliations></json:item><json:item><name>Seung Joon Song</name><affiliations><json:string>Korea Artificial Organ Center, Korea University</json:string><json:string>Brain Korea 21 Project for Biomedical Science</json:string></affiliations></json:item><json:item><name>Jung Chan Lee</name><affiliations><json:string>Institute of Medical and Biological Engineering, Medical Research Center, Seoul National University</json:string></affiliations></json:item><json:item><name>Yongdoo Park</name><affiliations><json:string>Korea Artificial Organ Center, Korea University</json:string><json:string>Department of Biomedical Engineering</json:string></affiliations></json:item><json:item><name>Seung Min Shin</name><affiliations><json:string>Korea Artificial Organ Center, Korea University</json:string></affiliations></json:item><json:item><name>Kyung Sun</name><affiliations><json:string>Korea Artificial Organ Center, Korea University</json:string><json:string>Brain Korea 21 Project for Biomedical Science</json:string><json:string>Department of Thoracic and Cardiovascular Surgery</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>Cardiac catheterization</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Robotic catheter navigation</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Force feedback</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Force‐reflecting platform</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Motion control</value></json:item></subject><articleId><json:string>AOR1142</json:string></articleId><language><json:string>eng</json:string></language><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. 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E‐mail:</p></note><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Brain Korea 21 Project for Biomedical Science</affiliation></author><author><persName><forename type="first">Hui‐Nam</forename><surname>Pak</surname></persName><affiliation>Department of Cardiology, Yonsei University Health System, Seoul, Korea</affiliation></author><author><persName><forename type="first">Seung Joon</forename><surname>Song</surname></persName><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Brain Korea 21 Project for Biomedical Science</affiliation></author><author><persName><forename type="first">Jung Chan</forename><surname>Lee</surname></persName><affiliation>Institute of Medical and Biological Engineering, Medical Research Center, Seoul National University</affiliation></author><author><persName><forename type="first">Yongdoo</forename><surname>Park</surname></persName><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Department of Biomedical Engineering</affiliation></author><author><persName><forename type="first">Seung Min</forename><surname>Shin</surname></persName><affiliation>Korea Artificial Organ Center, Korea University</affiliation></author><author><persName><forename type="first">Kyung</forename><surname>Sun</surname></persName><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Brain Korea 21 Project for Biomedical Science</affiliation><affiliation>Department of Thoracic and Cardiovascular Surgery</affiliation></author></analytic><monogr><title level="j">Artificial Organs</title><idno type="pISSN">0160-564X</idno><idno type="eISSN">1525-1594</idno><idno type="DOI">10.1111/(ISSN)1525-1594</idno><imprint><publisher>Blackwell Publishing Inc</publisher><pubPlace>Malden, USA</pubPlace><date type="published" when="2010-11"></date><biblScope unit="volume">34</biblScope><biblScope unit="issue">11</biblScope><biblScope unit="page" from="1034">1034</biblScope><biblScope unit="page" to="1039">1039</biblScope></imprint></monogr><idno type="istex">AA862CB2E4D61B1A2545D201059D4A1F381B1854</idno><idno type="DOI">10.1111/j.1525-1594.2010.01142.x</idno><idno type="ArticleID">AOR1142</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2010</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>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.</p></abstract><textClass xml:lang="en"><keywords scheme="keyword"><list><head>keywords</head><item><term>Cardiac catheterization</term></item><item><term>Robotic catheter navigation</term></item><item><term>Force feedback</term></item><item><term>Force‐reflecting platform</term></item><item><term>Motion control</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="2010-11">Published</change></revisionDesc></teiHeader></istex:fulltextTEI><json:item><original>false</original><mimetype>text/plain</mimetype><extension>txt</extension><uri>https://api.istex.fr/document/AA862CB2E4D61B1A2545D201059D4A1F381B1854/fulltext/txt</uri></json:item></fulltext><metadata><istex:metadataXml wicri:clean="Wiley, elements deleted: body"><istex:xmlDeclaration>version="1.0" encoding="UTF-8" standalone="yes"</istex:xmlDeclaration><istex:document><component version="2.0" type="serialArticle" xml:lang="en"><header><publicationMeta level="product"><publisherInfo><publisherName>Blackwell Publishing Inc</publisherName><publisherLoc>Malden, USA</publisherLoc></publisherInfo><doi origin="wiley" registered="yes">10.1111/(ISSN)1525-1594</doi><issn type="print">0160-564X</issn><issn type="electronic">1525-1594</issn><idGroup><id type="product" value="AOR"></id><id type="publisherDivision" value="ST"></id></idGroup><titleGroup><title type="main" sort="ARTIFICIAL ORGANS">Artificial Organs</title></titleGroup></publicationMeta><publicationMeta level="part" position="11111"><doi origin="wiley">10.1111/aor.2010.34.issue-11</doi><numberingGroup><numbering type="journalVolume" number="34">34</numbering><numbering type="journalIssue" number="11">11</numbering></numberingGroup><coverDate startDate="2010-11">November 2010</coverDate></publicationMeta><publicationMeta level="unit" type="article" position="28" status="forIssue"><doi origin="wiley">10.1111/j.1525-1594.2010.01142.x</doi><idGroup><id type="unit" value="AOR1142"></id></idGroup><countGroup><count type="pageTotal" number="1"></count></countGroup><titleGroup><title type="tocHeading1">T<sc>houghts and </sc>P<sc>rogress</sc></title></titleGroup><copyright>© 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.</copyright><eventGroup><event type="xmlConverted" agent="Converter:BPG_TO_WML3G version:2.3.27 mode:FullText" date="2010-11-24"></event><event type="firstOnline" date="2010-11-24"></event><event type="publishedOnlineFinalForm" date="2010-11-24"></event><event type="xmlConverted" agent="Converter:WILEY_ML3G_TO_WILEY_ML3GV2 version:3.8.8" date="2014-01-04"></event><event type="xmlConverted" agent="Converter:WML3G_To_WML3G version:4.1.7 mode:FullText,remove_FC" date="2014-10-15"></event></eventGroup><numberingGroup><numbering type="pageFirst" number="1034">1034</numbering><numbering type="pageLast" number="1039">1039</numbering></numberingGroup><correspondenceTo>Dr. Jaesoon Choi, Korea Artificial Organ Center, College of Medicine, Korea University, 126‐1, Anam‐dong 5‐ga, Seongbuk‐gu, Seoul 136‐705, Korea. E‐mail: <email>aequitas@korea.ac.kr</email></correspondenceTo><linkGroup><link type="toTypesetVersion" href="file:AOR.AOR1142.pdf"></link></linkGroup></publicationMeta><contentMeta><unparsedEditorialHistory>Received May 2010; revised August 2010.</unparsedEditorialHistory><countGroup><count type="figureTotal" number="2"></count><count type="tableTotal" number="0"></count><count type="formulaTotal" number="0"></count><count type="referenceTotal" number="12"></count><count type="wordTotal" number="3035"></count><count type="linksPubMed" number="0"></count><count type="linksCrossRef" number="0"></count></countGroup><titleGroup><title type="main">Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation</title><title type="shortAuthors">THOUGHTS AND PROGRESS</title><title type="short">THOUGHTS AND PROGRESS</title></titleGroup><creators><creator creatorRole="author" xml:id="cr1" affiliationRef="#a1 #a2"><personName><givenNames>Jun Woo</givenNames><familyName>Park</familyName></personName></creator><creator creatorRole="author" xml:id="cr2" affiliationRef="#a1 #a3" corresponding="yes"><personName><givenNames>Jaesoon</givenNames><familyName>Choi</familyName></personName></creator><creator creatorRole="author" xml:id="cr3" affiliationRef="#a6"><personName><givenNames>Hui‐Nam</givenNames><familyName>Pak</familyName></personName></creator><creator creatorRole="author" xml:id="cr4" affiliationRef="#a1 #a3"><personName><givenNames>Seung Joon</givenNames><familyName>Song</familyName></personName></creator><creator creatorRole="author" xml:id="cr5" affiliationRef="#a5"><personName><givenNames>Jung Chan</givenNames><familyName>Lee</familyName></personName></creator><creator creatorRole="author" xml:id="cr6" affiliationRef="#a1 #a2"><personName><givenNames>Yongdoo</givenNames><familyName>Park</familyName></personName></creator><creator creatorRole="author" xml:id="cr7" affiliationRef="#a1"><personName><givenNames>Seung Min</givenNames><familyName>Shin</familyName></personName></creator><creator creatorRole="author" xml:id="cr8" affiliationRef="#a1 #a3 #a4"><personName><givenNames>Kyung</givenNames><familyName>Sun</familyName></personName></creator></creators><affiliationGroup><affiliation xml:id="a1"><unparsedAffiliation>Korea Artificial Organ Center, Korea University</unparsedAffiliation></affiliation><affiliation xml:id="a2"><unparsedAffiliation>Department of Biomedical Engineering</unparsedAffiliation></affiliation><affiliation xml:id="a3"><unparsedAffiliation>Brain Korea 21 Project for Biomedical Science</unparsedAffiliation></affiliation><affiliation xml:id="a4"><unparsedAffiliation>Department of Thoracic and Cardiovascular Surgery</unparsedAffiliation></affiliation><affiliation xml:id="a5"><unparsedAffiliation>Institute of Medical and Biological Engineering, Medical Research Center, Seoul National University</unparsedAffiliation></affiliation><affiliation xml:id="a6" countryCode="KR"><unparsedAffiliation>Department of Cardiology, Yonsei University Health System, Seoul, Korea</unparsedAffiliation></affiliation></affiliationGroup><keywordGroup xml:lang="en"><keyword xml:id="k1">Cardiac catheterization</keyword><keyword xml:id="k2">Robotic catheter navigation</keyword><keyword xml:id="k3">Force feedback</keyword><keyword xml:id="k4">Force‐reflecting platform</keyword><keyword xml:id="k5">Motion control</keyword></keywordGroup><abstractGroup><abstract type="main" xml:lang="en"><title type="main">Abstract</title><p>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.</p></abstract></abstractGroup></contentMeta><noteGroup><note xml:id="fn1"><p>Presented in part at the 6th International Conference on Pediatric Mechanical Circulatory Support Systems and Pediatric Cardiopulmonary Perfusion held May 6–8, 2010, in Boston, MA, USA.</p></note></noteGroup></header></component></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation</title></titleInfo><titleInfo type="abbreviated"><title>THOUGHTS AND PROGRESS</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation</title></titleInfo><name type="personal"><namePart type="given">Jun Woo</namePart><namePart type="family">Park</namePart><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Department of Biomedical Engineering</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Jaesoon</namePart><namePart type="family">Choi</namePart><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Brain Korea 21 Project for Biomedical Science</affiliation><description>Correspondence: Dr. Jaesoon Choi, Korea Artificial Organ Center, College of Medicine, Korea University, 126‐1, Anam‐dong 5‐ga, Seongbuk‐gu, Seoul 136‐705, Korea. E‐mail: </description><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Hui‐Nam</namePart><namePart type="family">Pak</namePart><affiliation>Department of Cardiology, Yonsei University Health System, Seoul, Korea</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Seung Joon</namePart><namePart type="family">Song</namePart><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Brain Korea 21 Project for Biomedical Science</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Jung Chan</namePart><namePart type="family">Lee</namePart><affiliation>Institute of Medical and Biological Engineering, Medical Research Center, Seoul National University</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Yongdoo</namePart><namePart type="family">Park</namePart><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Department of Biomedical Engineering</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Seung Min</namePart><namePart type="family">Shin</namePart><affiliation>Korea Artificial Organ Center, Korea University</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Kyung</namePart><namePart type="family">Sun</namePart><affiliation>Korea Artificial Organ Center, Korea University</affiliation><affiliation>Brain Korea 21 Project for Biomedical Science</affiliation><affiliation>Department of Thoracic and Cardiovascular Surgery</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="article" displayLabel="article"></genre><originInfo><publisher>Blackwell Publishing Inc</publisher><place><placeTerm type="text">Malden, USA</placeTerm></place><dateIssued encoding="w3cdtf">2010-11</dateIssued><edition>Received May 2010; revised August 2010.</edition><copyrightDate encoding="w3cdtf">2010</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType><extent unit="figures">2</extent><extent unit="references">12</extent><extent unit="words">3035</extent></physicalDescription><abstract lang="en">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.</abstract><subject lang="en"><genre>keywords</genre><topic>Cardiac catheterization</topic><topic>Robotic catheter navigation</topic><topic>Force feedback</topic><topic>Force‐reflecting platform</topic><topic>Motion control</topic></subject><relatedItem type="host"><titleInfo><title>Artificial Organs</title></titleInfo><genre type="journal">journal</genre><identifier type="ISSN">0160-564X</identifier><identifier type="eISSN">1525-1594</identifier><identifier type="DOI">10.1111/(ISSN)1525-1594</identifier><identifier type="PublisherID">AOR</identifier><part><date>2010</date><detail type="volume"><caption>vol.</caption><number>34</number></detail><detail type="issue"><caption>no.</caption><number>11</number></detail><extent unit="pages"><start>1034</start><end>1039</end><total>1</total></extent></part></relatedItem><identifier type="istex">AA862CB2E4D61B1A2545D201059D4A1F381B1854</identifier><identifier type="DOI">10.1111/j.1525-1594.2010.01142.x</identifier><identifier type="ArticleID">AOR1142</identifier><accessCondition type="use and reproduction" contentType="copyright">© 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.</accessCondition><recordInfo><recordContentSource>WILEY</recordContentSource><recordOrigin>Blackwell Publishing Inc</recordOrigin></recordInfo></mods></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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