NDLI: A tele-operated robotic platform for cardiovascular catheter intervention with haptic guidance

Content Provider	IEEE Xplore Digital Library
Author	Youngjin Moon Jaesoon Choi
Copyright Year	2014
Description	Author affiliation: Med. Eng. R & D Center, Asan Med. Center, Seoul, South Korea (Youngjin Moon; Jaesoon Choi)
Abstract	This paper presents a tele-operated robotic platform for cardiac catheterization that is one of minimally invasive intervention procedures mostly used in cardiac ablation and stent implantation. The robotic cardiac catheter navigation systems have been developed to facilitate more accurate and precise catheter navigation. The system proposed in this study was designed to be compatible with conventional cardiac ablation catheters. The master manipulator implements force feedback using force/torque signal either measured by a sensor or estimated from the motor current signal in the slave manipulator. The slave manipulator with three DOF implements a robotic catheter control platform in which conventional cardiac catheter is installed and the motions such as forward/backward movement, rolling, and catheter tip bending are controlled. The system runs on a realtime-based software that implements synchronized control of the master-slave motion. The synchronization performance was evaluated for step, sinusoidal, and arbitrarily varying motion commands and the result showed the proposed system successfully achieved the tele-operated motion control function.
Starting Page	299
Ending Page	303
File Size	928117
Page Count	5
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6988007
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Cardiac catheterization Navigation Tele-operation Prototypes Robotic catheter navigation Haptics Robots Catheters Master-slave system
Content Type	Text
Resource Type	Article

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