Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation
Identifieur interne : 003C78 ( Istex/Curation ); précédent : 003C77; suivant : 003C79Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation
Auteurs : Jun Woo Park ; Jaesoon Choi ; Hui Am Pak [Corée du Sud] ; Seung Joon Song ; Jung Chan Lee [Corée du Sud] ; Yongdoo Park ; Seung Min Shin ; Kyung SunSource :
- Artificial Organs [ 0160-564X ] ; 2010-11.
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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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Jun Woo Park<affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></affiliation><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></affiliation><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Thoracic and Cardiovascular Surgery</mods:affiliation><wicri:noCountry code="no comma">Department of Thoracic and Cardiovascular Surgery</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Thoracic and Cardiovascular Surgery</mods:affiliation><wicri:noCountry code="no comma">Department of Thoracic and Cardiovascular Surgery</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Thoracic and Cardiovascular Surgery</mods:affiliation><wicri:noCountry code="no comma">Department of Thoracic and Cardiovascular Surgery</wicri:noCountry></affiliation>Le document en format XML
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University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></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 wicri:level="1"><mods:affiliation>Department of Cardiology, Yonsei University Health System, Seoul, Korea</mods:affiliation><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Cardiology, Yonsei University Health System, Seoul</wicri:regionArea></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><wicri:noCountry code="subField">Korea 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Biomedical Science</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Thoracic and Cardiovascular Surgery</mods:affiliation><wicri:noCountry code="no comma">Department of Thoracic and Cardiovascular Surgery</wicri:noCountry></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:AA862CB2E4D61B1A2545D201059D4A1F381B1854</idno><date when="2010" year="2010">2010</date><idno type="doi">10.1111/j.1525-1594.2010.01142.x</idno><idno type="url">https://api.istex.fr/document/AA862CB2E4D61B1A2545D201059D4A1F381B1854/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">003C78</idno><idno type="wicri:Area/Istex/Curation">003C78</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation</title><author><name sortKey="Park, Jun Woo" sort="Park, Jun Woo" uniqKey="Park J" first="Jun Woo" last="Park">Jun Woo Park</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Department of Biomedical Engineering</mods:affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></affiliation></author><author><name sortKey="Choi, Jaesoon" sort="Choi, Jaesoon" uniqKey="Choi J" first="Jaesoon" last="Choi">Jaesoon Choi</name><affiliation><mods:affiliation>Korea Artificial Organ Center, Korea University</mods:affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></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 wicri:level="1"><mods:affiliation>Department of Cardiology, Yonsei University Health System, Seoul, Korea</mods:affiliation><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Cardiology, Yonsei University Health System, Seoul</wicri:regionArea></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><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><mods:affiliation>Brain Korea 21 Project for Biomedical Science</mods:affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation></author><author><name sortKey="Lee, Jung Chan" sort="Lee, Jung Chan" uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan 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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></record>Pour manipuler ce document sous Unix (Dilib)
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