Tension Sensing for a Linear Actuated Catheter Robot

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10 Citations (Scopus)

Abstract

Cardiac ablation therapy is an effective minimally invasive treatment of cardiac arrhythmias. The procedure is delicate and complex in nature requiring particular sections of the heart to be ablated. When operated by an experienced electrophysiologist, the procedure normally takes 2 to 3 hours. It is often conducted under fluoroscopic X-ray guidance and longer procedure times can increase the radiation burden of both the operator and patient. Earlier, we had proposed a robot-assisted tendon-guided catheter that can be navigated using radiation-free MRI imaging. In this paper, we propose a tension-feedback mechanism that provides vital control over its guiding tendons. We describe how it can be achieved using tension sensing and demonstrate using experiments and finite element simulations that feedback based on accurate tension sensing is plausible.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer-Verlag Berlin Heidelberg
Pages472-482
Number of pages11
Volume9245
ISBN (Print)9783319228754
DOIs
Publication statusPublished - 2015
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: 24 Aug 201527 Aug 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9245
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference8th International Conference on Intelligent Robotics and Applications, ICIRA 2015
Country/TerritoryUnited Kingdom
CityPortsmouth
Period24/08/201527/08/2015

Keywords

  • Catheter linear actuation
  • Catheter tension sensing
  • Robot-assisted catheter
  • Tension control

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