NDLI: Catheter Kinematics for Intracardiac Navigation

Content Provider	IEEE Xplore Digital Library
Author	Ganji, Y. Janabi-Sharifi, F.
Copyright Year	1964
Abstract	Steerable catheters are utilized frequently in minimally invasive cardiac interventions. Despite their extensive applications, the properties of the steerable section of such devices have not been thoroughly investigated. In this paper, the kinematics of the distal shaft of the catheters is modeled, and the catheter's reachable workspace and its singular configurations are studied. The modeling is empirically validated through experiments with actual catheters mounted on a specialized robot. The statistical analysis of the experiments verify the effectiveness of the proposed model in estimating the catheter's tip position. In the experiments, the modeling error does not exceed 2.66 plusmn 1.96 mm, and the mean absolute error in position coordinates is less than 1.55 mm. In addition, the linear relationship between the model and the measured position vectors is demonstrated, and the significance of the modeling goodness of fit is established. Based on the precision and computational effectiveness of the method, the applicability of the modeling to control and simulation purposes is postulated.
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	12
File Size	738107
Starting Page	621
Ending Page	632
File Format	PDF
ISSN	00189294
Volume Number	56
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-03-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Catheters Navigation Shafts Robot kinematics Cardiology Minimally invasive surgery Statistical analysis Position measurement Vectors Computational modeling modeling Catheter continuum robot kinematics
Content Type	Text
Resource Type	Article
Subject	Biomedical Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Modeling and Control of a Continuum Style Microrobot for Endovascular Surgery

Emerging Robotic Platforms for Minimally Invasive Surgery

Model-Based Force Estimation for Intracardiac Catheters

A guaranteed approach for kinematic analysis of continuum robot based catheter

Self-learning of inverse kinematics for feedforward control of intracardiac robotic ablation catheters

Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation

Kinematics of Micro Bending Robot Using Shape Memory Alloy for Active Catheter

A Review of Catheter Related Complications During Minimally Invasive Transcatheter Cardiovascular Intervention with Implications for Catheter Design

Kinematics analysis of the catheter for a novel VR robotic catheter system

Catheter Kinematics for Intracardiac Navigation

Similar Documents

Modeling and Control of a Continuum Style Microrobot for Endovascular Surgery

Emerging Robotic Platforms for Minimally Invasive Surgery

Model-Based Force Estimation for Intracardiac Catheters

A guaranteed approach for kinematic analysis of continuum robot based catheter

Self-learning of inverse kinematics for feedforward control of intracardiac robotic ablation catheters

Parsimonious Evaluation of Concentric-Tube Continuum Robot Equilibrium Conformation

Kinematics of Micro Bending Robot Using Shape Memory Alloy for Active Catheter

A Review of Catheter Related Complications During Minimally Invasive Transcatheter Cardiovascular Intervention with Implications for Catheter Design

Kinematics analysis of the catheter for a novel VR robotic catheter system

Catheter Kinematics for Intracardiac Navigation