Development of a force-reflecting robotic platform for cardiac catheter navigation.
Identifieur interne : 001770 ( Ncbi/Merge ); précédent : 001769; suivant : 001771Development of a force-reflecting robotic platform for cardiac catheter navigation.
Auteurs : Jun Woo Park [Corée du Sud] ; Jaesoon Choi ; Hui-Nam Pak ; Seung Joon Song ; Jung Chan Lee ; Yongdoo Park ; Seung Min Shin ; Kyung SunSource :
- Artificial organs [ 1525-1594 ] ; 2010.
English descriptors
- KwdEn :
- 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.
DOI: 10.1111/j.1525-1594.2010.01142.x
PubMed: 21092046
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<record><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></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><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">21092046</PMID><DateCreated><Year>2010</Year><Month>11</Month><Day>24</Day></DateCreated><DateCompleted><Year>2011</Year><Month>03</Month><Day>04</Day></DateCompleted><Article PubModel="Print"><Journal><ISSN IssnType="Electronic">1525-1594</ISSN><JournalIssue CitedMedium="Internet"><Volume>34</Volume><Issue>11</Issue><PubDate><Year>2010</Year><Month>Nov</Month></PubDate></JournalIssue><Title>Artificial organs</Title><ISOAbbreviation>Artif Organs</ISOAbbreviation></Journal><ArticleTitle>Development of a force-reflecting robotic platform for cardiac catheter navigation.</ArticleTitle><Pagination><MedlinePgn>1034-9</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1111/j.1525-1594.2010.01142.x</ELocationID><Abstract><AbstractText>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.</AbstractText><CopyrightInformation>© 2010, Copyright the Authors. Artificial Organs © 2010, International Center for Artificial Organs and Transplantation and Wiley Periodicals, Inc.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Park</LastName><ForeName>Jun Woo</ForeName><Initials>JW</Initials><AffiliationInfo><Affiliation>Korea Artificial Organ Center, Korea University, Seongbuk-gu, Seoul 136-705,Korea.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Choi</LastName><ForeName>Jaesoon</ForeName><Initials>J</Initials></Author><Author ValidYN="Y"><LastName>Pak</LastName><ForeName>Hui-Nam</ForeName><Initials>HN</Initials></Author><Author ValidYN="Y"><LastName>Song</LastName><ForeName>Seung Joon</ForeName><Initials>SJ</Initials></Author><Author ValidYN="Y"><LastName>Lee</LastName><ForeName>Jung Chan</ForeName><Initials>JC</Initials></Author><Author ValidYN="Y"><LastName>Park</LastName><ForeName>Yongdoo</ForeName><Initials>Y</Initials></Author><Author ValidYN="Y"><LastName>Shin</LastName><ForeName>Seung Min</ForeName><Initials>SM</Initials></Author><Author ValidYN="Y"><LastName>Sun</LastName><ForeName>Kyung</ForeName><Initials>K</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>Artif Organs</MedlineTA><NlmUniqueID>7802778</NlmUniqueID><ISSNLinking>0160-564X</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D000465">Algorithms</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D017115">Catheter Ablation</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D005246">Feedback</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D008422">Materials Testing</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012985">Software Design</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000295">instrumentation</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D013997">Time Factors</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D019415">Torque</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="entrez"><Year>2010</Year><Month>11</Month><Day>25</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2010</Year><Month>11</Month><Day>26</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2011</Year><Month>3</Month><Day>5</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="doi">10.1111/j.1525-1594.2010.01142.x</ArticleId><ArticleId IdType="pubmed">21092046</ArticleId></ArticleIdList></PubmedData></pubmed><affiliations><list><country><li>Corée du Sud</li></country><settlement><li>Séoul</li></settlement></list><tree><noCountry><name sortKey="Choi, Jaesoon" sort="Choi, Jaesoon" uniqKey="Choi J" first="Jaesoon" last="Choi">Jaesoon Choi</name><name sortKey="Lee, Jung Chan" sort="Lee, Jung Chan" uniqKey="Lee J" first="Jung Chan" last="Lee">Jung Chan Lee</name><name sortKey="Pak, Hui Nam" sort="Pak, Hui Nam" uniqKey="Pak H" first="Hui-Nam" last="Pak">Hui-Nam Pak</name><name sortKey="Park, Yongdoo" sort="Park, Yongdoo" uniqKey="Park Y" first="Yongdoo" last="Park">Yongdoo Park</name><name sortKey="Shin, Seung Min" sort="Shin, Seung Min" uniqKey="Shin S" first="Seung Min" last="Shin">Seung Min Shin</name><name sortKey="Song, Seung Joon" sort="Song, Seung Joon" uniqKey="Song S" first="Seung Joon" last="Song">Seung Joon Song</name><name sortKey="Sun, Kyung" sort="Sun, Kyung" uniqKey="Sun K" first="Kyung" last="Sun">Kyung Sun</name></noCountry><country name="Corée du Sud"><noRegion><name sortKey="Park, Jun Woo" sort="Park, Jun Woo" uniqKey="Park J" first="Jun Woo" last="Park">Jun Woo Park</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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