Multi-turn, tension-stiffening catheter navigation system
Name
Slocum_Multi-turn tension.pdf
Size
964.25 KB
Format
Adobe PDF
Checksum (MD5)
94f47eb623e392f2b61d1fa46ba396d9
Author(s)
Gupta, Rajiv
Chen, Yi
Chang, Jean H.
Greenlee, Alison S.
Cheung, Kenneth Chun-Wai
Slocum, Alexander H
Date Issued
May 2010
Journal
Proceedings of the 2010 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Yi Chen, Jean H Chang, Alison S Greenlee, Kenneth C Cheung, Alex H Slocum, and Rajiv Gupta. Multi-turn, Tension-stiffening Catheter Navigation System. In 2010 IEEE International Conference on Robotics and Automation, 5570-5575. Institute of Electrical and Electronics Engineers, 2010. © Copyright 2010 IEEE
Version
Final published version
Abstract
In poorly constrained extra-vascular environments such as hollow viscera, current catheter navigation techniques are restricted to simple paths and therefore limit a doctor's ability to position the catheter. This paper presents a new catheter positioning system that enables faster and more accurate catheter placement, with fewer scans. The proposed robotic catheter navigation system can execute curved paths and maintain any number of three-dimensional turns using tension stiffening guide-wires composed of a set of disposable friction-locking beads. An external, reusable control system is used to automate the movement of the catheter. This control system uses a custom-designed graphical kinematic analysis program that predicts contact forces, changes in conformation due to external forces, tip deflection and failure modes of the catheter as it advances.
MIT Department
Massachusetts Institute of Technology. Center for Bits and Atoms
Massachusetts Institute of Technology. Department of Mechanical Engineering
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2010.5509786
