Development of a Force‐Reflecting Robotic Platform for Cardiac Catheter Navigation
Identifieur interne : 003D44 ( Main/Merge ); précédent : 003D43; suivant : 003D45Development 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.
English descriptors
- KwdEn :
- Algorithms, Cardiac catheterization, Catheter Ablation (instrumentation), Catheter Ablation (methods), Feedback, Force feedback, Force‐reflecting platform, Materials Testing, Motion control, Robotic catheter navigation, Robotics (instrumentation), Software Design, Surgery, Computer-Assisted (instrumentation), Time Factors, Torque, User-Computer Interface.
- MESH :
- instrumentation : Catheter Ablation, Robotics, Surgery, Computer-Assisted.
- methods : Catheter Ablation.
- Algorithms, Feedback, Materials Testing, Software Design, Time Factors, Torque, User-Computer Interface.
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.
Url:
DOI: 10.1111/j.1525-1594.2010.01142.x
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uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan Lee</name><affiliation wicri:level="4"><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name><affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></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><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name><affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><wicri:noCountry code="no comma">Department of Thoracic and Cardiovascular Surgery</wicri:noCountry></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>Algorithms</term><term>Cardiac catheterization</term><term>Catheter Ablation (instrumentation)</term><term>Catheter Ablation (methods)</term><term>Feedback</term><term>Force feedback</term><term>Force‐reflecting platform</term><term>Materials Testing</term><term>Motion control</term><term>Robotic catheter navigation</term><term>Robotics (instrumentation)</term><term>Software Design</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Time Factors</term><term>Torque</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Catheter Ablation</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Catheter Ablation</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Feedback</term><term>Materials Testing</term><term>Software Design</term><term>Time Factors</term><term>Torque</term><term>User-Computer Interface</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><double doi="10.1111/j.1525-1594.2010.01142.x"><ISTEX><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title 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></author><author><name sortKey="Choi, Jaesoon" sort="Choi, Jaesoon" uniqKey="Choi J" first="Jaesoon" last="Choi">Jaesoon Choi</name></author><author><name sortKey="Pak, Hui Am" sort="Pak, Hui Am" uniqKey="Pak H" first="Hui Am" last="Pak">Hui Am Pak</name></author><author><name sortKey="Song, Seung Joon" sort="Song, Seung Joon" uniqKey="Song S" first="Seung Joon" last="Song">Seung Joon Song</name></author><author><name sortKey="Lee, Jung Chan" sort="Lee, Jung Chan" uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan Lee</name></author><author><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name></author><author><name sortKey="Shin, Seung Min" sort="Shin, Seung Min" uniqKey="Shin S" first="Seung Min" last="Shin">Seung Min Shin</name></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name></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><idno type="wicri:Area/Istex/Checkpoint">000A83</idno><idno 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uniqKey="Pak H" first="Hui Am" last="Pak">Hui Am Pak</name><affiliation wicri:level="3"><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Department of Cardiology, Yonsei University Health System, Seoul</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></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><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><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 Lee</name><affiliation wicri:level="4"><country>Corée du Sud</country><placeName><settlement type="city">Séoul</settlement></placeName><orgName type="university">Université nationale de Séoul</orgName></affiliation></author><author><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name><affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><wicri:noCountry code="no comma">Department of Biomedical Engineering</wicri:noCountry></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><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name><affiliation><wicri:noCountry code="subField">Korea University</wicri:noCountry></affiliation><affiliation><wicri:noCountry code="no comma">Brain Korea 21 Project for Biomedical Science</wicri:noCountry></affiliation><affiliation><wicri:noCountry code="no comma">Department of Thoracic and Cardiovascular Surgery</wicri:noCountry></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><PubMed><TEI><teiHeader><fileDesc><titleStmt><title 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 wicri:level="1"><nlm:affiliation>Korea Artificial Organ Center, Korea University, Seongbuk-gu, Seoul 136-705,Korea.</nlm:affiliation><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Korea Artificial Organ Center, Korea University, Seongbuk-gu, Seoul 136-705</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Choi, Jaesoon" sort="Choi, Jaesoon" uniqKey="Choi J" first="Jaesoon" last="Choi">Jaesoon Choi</name></author><author><name sortKey="Pak, Hui Nam" sort="Pak, Hui Nam" uniqKey="Pak H" first="Hui-Nam" last="Pak">Hui-Nam Pak</name></author><author><name sortKey="Song, Seung Joon" sort="Song, Seung Joon" uniqKey="Song S" first="Seung Joon" last="Song">Seung Joon Song</name></author><author><name sortKey="Lee, Jung Chan" sort="Lee, Jung Chan" uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan Lee</name></author><author><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name></author><author><name sortKey="Shin, Seung Min" sort="Shin, Seung Min" uniqKey="Shin S" first="Seung Min" last="Shin">Seung Min Shin</name></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2010">2010</date><idno type="doi">10.1111/j.1525-1594.2010.01142.x</idno><idno type="RBID">pubmed:21092046</idno><idno type="pmid">21092046</idno><idno type="wicri:Area/PubMed/Corpus">001007</idno><idno type="wicri:Area/PubMed/Curation">001007</idno><idno type="wicri:Area/PubMed/Checkpoint">000F72</idno><idno type="wicri:Area/Ncbi/Merge">001770</idno><idno type="wicri:Area/Ncbi/Curation">001770</idno><idno type="wicri:Area/Ncbi/Checkpoint">001770</idno></publicationStmt><sourceDesc><biblStruct><analytic><title 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 wicri:level="1"><nlm:affiliation>Korea Artificial Organ Center, Korea University, Seongbuk-gu, Seoul 136-705,Korea.</nlm:affiliation><country xml:lang="fr">Corée du Sud</country><wicri:regionArea>Korea Artificial Organ Center, Korea University, Seongbuk-gu, Seoul 136-705</wicri:regionArea><placeName><settlement type="city">Séoul</settlement></placeName></affiliation></author><author><name sortKey="Choi, Jaesoon" sort="Choi, Jaesoon" uniqKey="Choi J" first="Jaesoon" last="Choi">Jaesoon Choi</name></author><author><name sortKey="Pak, Hui Nam" sort="Pak, Hui Nam" uniqKey="Pak H" first="Hui-Nam" last="Pak">Hui-Nam Pak</name></author><author><name sortKey="Song, Seung Joon" sort="Song, Seung Joon" uniqKey="Song S" first="Seung Joon" last="Song">Seung Joon Song</name></author><author><name sortKey="Lee, Jung Chan" sort="Lee, Jung Chan" uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan Lee</name></author><author><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name></author><author><name sortKey="Shin, Seung Min" sort="Shin, Seung Min" uniqKey="Shin S" first="Seung Min" last="Shin">Seung Min Shin</name></author><author><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name></author></analytic><series><title level="j">Artificial organs</title><idno type="eISSN">1525-1594</idno><imprint><date when="2010" type="published">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Catheter Ablation (instrumentation)</term><term>Catheter Ablation (methods)</term><term>Feedback</term><term>Materials Testing</term><term>Robotics (instrumentation)</term><term>Software Design</term><term>Surgery, Computer-Assisted (instrumentation)</term><term>Time Factors</term><term>Torque</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="instrumentation" xml:lang="en"><term>Catheter Ablation</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Catheter Ablation</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Feedback</term><term>Materials Testing</term><term>Software Design</term><term>Time Factors</term><term>Torque</term><term>User-Computer Interface</term></keywords></textClass></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></PubMed></double></record>Pour manipuler ce document sous Unix (Dilib)
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