@inbook{644cbdb30e474340aa1a60bd83825cc0,
title = "Tension Sensing for a Linear Actuated Catheter Robot",
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.",
keywords = "Catheter linear actuation, Catheter tension sensing, Robot-assisted catheter, Tension control",
author = "Junghwan Back and Rashed Karim and Yohan Noh and Kawal Rhode and Kaspar Althoefer and Hongbin Liu",
year = "2015",
doi = "10.1007/978-3-319-22876-1_40",
language = "English",
isbn = "9783319228754",
volume = "9245",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer-Verlag Berlin Heidelberg",
pages = "472--482",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
note = "8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 ; Conference date: 24-08-2015 Through 27-08-2015",
}