Model-free position control for cardiac ablation catheter steering using electromagnetic position tracking and tension feedback

Junghwan Back; Lukas Lindenroth; Kawal Rhode; Hongbin Liu

doi:10.3389/frobt.2017.00017

Model-free position control for cardiac ablation catheter steering using electromagnetic position tracking and tension feedback

Junghwan Back, Lukas Lindenroth, Kawal Rhode, Hongbin Liu^*

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

21 Citations (Scopus)

Abstract

Cardiac ablation therapy is an effective minimally invasive treatment for cardiac arrhythmia. Catheter steering in the constrained environment during the procedure is considered difficult, particularly in providing accurate catheter tip positioning for ablating or for diagnosing the cardiac tissue. These difficulties and inaccuracies in the catheter tip positioning are a common reason for severe complications and a prolonged duration of the procedure. To improve the maneuverability and hence the accuracy of the catheter tip navigation, a model-free catheter tip position control with a new robotic catheter system is proposed in this article. A model-free tension control algorithm for steering the catheter has been developed and implemented in the robot. As seen in the experimental validation of the system, the model-free control is able to minimize position error up to 0.5 ± 0.2 mm from 80 mm position error within 7 ± 2 s. Furthermore, it shows the capability to react efficiently to external disturbances, such as external contacts or unwanted catheter shaft movement.

Original language	English
Article number	17
Journal	Frontiers Robotics AI
Volume	4
Issue number	MAY
DOIs	https://doi.org/10.3389/frobt.2017.00017
Publication status	Published - 1 May 2017

Keywords

Cardiac ablation
Catheter position control
Catheter robot
Model-free
Robotic catheter steering
Tension sensing and control

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10.3389/frobt.2017.00017

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title = "Model-free position control for cardiac ablation catheter steering using electromagnetic position tracking and tension feedback",

abstract = "Cardiac ablation therapy is an effective minimally invasive treatment for cardiac arrhythmia. Catheter steering in the constrained environment during the procedure is considered difficult, particularly in providing accurate catheter tip positioning for ablating or for diagnosing the cardiac tissue. These difficulties and inaccuracies in the catheter tip positioning are a common reason for severe complications and a prolonged duration of the procedure. To improve the maneuverability and hence the accuracy of the catheter tip navigation, a model-free catheter tip position control with a new robotic catheter system is proposed in this article. A model-free tension control algorithm for steering the catheter has been developed and implemented in the robot. As seen in the experimental validation of the system, the model-free control is able to minimize position error up to 0.5 ± 0.2 mm from 80 mm position error within 7 ± 2 s. Furthermore, it shows the capability to react efficiently to external disturbances, such as external contacts or unwanted catheter shaft movement.",

keywords = "Cardiac ablation, Catheter position control, Catheter robot, Model-free, Robotic catheter steering, Tension sensing and control",

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AU - Back, Junghwan

AU - Lindenroth, Lukas

AU - Rhode, Kawal

AU - Liu, Hongbin

PY - 2017/5/1

Y1 - 2017/5/1

N2 - Cardiac ablation therapy is an effective minimally invasive treatment for cardiac arrhythmia. Catheter steering in the constrained environment during the procedure is considered difficult, particularly in providing accurate catheter tip positioning for ablating or for diagnosing the cardiac tissue. These difficulties and inaccuracies in the catheter tip positioning are a common reason for severe complications and a prolonged duration of the procedure. To improve the maneuverability and hence the accuracy of the catheter tip navigation, a model-free catheter tip position control with a new robotic catheter system is proposed in this article. A model-free tension control algorithm for steering the catheter has been developed and implemented in the robot. As seen in the experimental validation of the system, the model-free control is able to minimize position error up to 0.5 ± 0.2 mm from 80 mm position error within 7 ± 2 s. Furthermore, it shows the capability to react efficiently to external disturbances, such as external contacts or unwanted catheter shaft movement.

AB - Cardiac ablation therapy is an effective minimally invasive treatment for cardiac arrhythmia. Catheter steering in the constrained environment during the procedure is considered difficult, particularly in providing accurate catheter tip positioning for ablating or for diagnosing the cardiac tissue. These difficulties and inaccuracies in the catheter tip positioning are a common reason for severe complications and a prolonged duration of the procedure. To improve the maneuverability and hence the accuracy of the catheter tip navigation, a model-free catheter tip position control with a new robotic catheter system is proposed in this article. A model-free tension control algorithm for steering the catheter has been developed and implemented in the robot. As seen in the experimental validation of the system, the model-free control is able to minimize position error up to 0.5 ± 0.2 mm from 80 mm position error within 7 ± 2 s. Furthermore, it shows the capability to react efficiently to external disturbances, such as external contacts or unwanted catheter shaft movement.

KW - Cardiac ablation

KW - Catheter position control

KW - Catheter robot

KW - Model-free

KW - Robotic catheter steering

KW - Tension sensing and control

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Model-free position control for cardiac ablation catheter steering using electromagnetic position tracking and tension feedback

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Keywords

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