Abstract
Minimally invasive surgery (MIS) during cardiovascular interventions reduces trauma and enables the treatment of high-risk patients who were initially denied surgery. However, restricted access, reduced visibility and control of the instrument at the treatment locations limits the performance and capabilities of such interventions during MIS. Therefore, the demand for technology such as steerable sheaths or catheters that assist the clinician during the procedure is increasing. In this study, we present and evaluate a robotically actuated delivery sheath (RADS) capable of autonomously and accurately compensating for beating heart motions by using a model-predictive control (MPC) strategy. We develop kinematic models and present online ultrasound segmentation of the RADS that are integrated with the MPC strategy. As a case study, we use pre-operative ultrasound images from a patient to extract motion profiles of the aortic heart valve (AHV). This allows the MPC strategy to anticipate for AHV motions. Further, mechanical hysteresis in the steering mechanism is compensated for in order to improve tip positioning accuracy. The novel integrated system is capable of controlling the articulating tip of the RADS to assist the clinician during cardiovascular surgery. Experiments demonstrate that the RADS follows the AHV motion with a mean positioning error of 1.68 mm. The presented modelling, imaging and control framework could be adapted and applied to a range of continuum-style robots and catheters for various cardiovascular interventions.
| Original language | English |
|---|---|
| Pages (from-to) | 193-209 |
| Number of pages | 17 |
| Journal | International journal of robotics research |
| Volume | 36 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 1 Feb 2017 |
Fingerprint
Keywords
- beating heart compensation
- Model predictive control
- robotically actuated delivery sheath
- ultrasound guided-control
Cite this
}
Model predictive control of a robotically actuated delivery sheath for beating heart compensation. / Vrooijink, Gustaaf J. (Corresponding Author); Denasi, Alper; Grandjean, Jan G.; Misra, Sarthak.
In: International journal of robotics research, Vol. 36, No. 2, 01.02.2017, p. 193-209.Research output: Contribution to journal › Article › Academic › peer-review
TY - JOUR
T1 - Model predictive control of a robotically actuated delivery sheath for beating heart compensation
AU - Vrooijink, Gustaaf J.
AU - Denasi, Alper
AU - Grandjean, Jan G.
AU - Misra, Sarthak
PY - 2017/2/1
Y1 - 2017/2/1
N2 - Minimally invasive surgery (MIS) during cardiovascular interventions reduces trauma and enables the treatment of high-risk patients who were initially denied surgery. However, restricted access, reduced visibility and control of the instrument at the treatment locations limits the performance and capabilities of such interventions during MIS. Therefore, the demand for technology such as steerable sheaths or catheters that assist the clinician during the procedure is increasing. In this study, we present and evaluate a robotically actuated delivery sheath (RADS) capable of autonomously and accurately compensating for beating heart motions by using a model-predictive control (MPC) strategy. We develop kinematic models and present online ultrasound segmentation of the RADS that are integrated with the MPC strategy. As a case study, we use pre-operative ultrasound images from a patient to extract motion profiles of the aortic heart valve (AHV). This allows the MPC strategy to anticipate for AHV motions. Further, mechanical hysteresis in the steering mechanism is compensated for in order to improve tip positioning accuracy. The novel integrated system is capable of controlling the articulating tip of the RADS to assist the clinician during cardiovascular surgery. Experiments demonstrate that the RADS follows the AHV motion with a mean positioning error of 1.68 mm. The presented modelling, imaging and control framework could be adapted and applied to a range of continuum-style robots and catheters for various cardiovascular interventions.
AB - Minimally invasive surgery (MIS) during cardiovascular interventions reduces trauma and enables the treatment of high-risk patients who were initially denied surgery. However, restricted access, reduced visibility and control of the instrument at the treatment locations limits the performance and capabilities of such interventions during MIS. Therefore, the demand for technology such as steerable sheaths or catheters that assist the clinician during the procedure is increasing. In this study, we present and evaluate a robotically actuated delivery sheath (RADS) capable of autonomously and accurately compensating for beating heart motions by using a model-predictive control (MPC) strategy. We develop kinematic models and present online ultrasound segmentation of the RADS that are integrated with the MPC strategy. As a case study, we use pre-operative ultrasound images from a patient to extract motion profiles of the aortic heart valve (AHV). This allows the MPC strategy to anticipate for AHV motions. Further, mechanical hysteresis in the steering mechanism is compensated for in order to improve tip positioning accuracy. The novel integrated system is capable of controlling the articulating tip of the RADS to assist the clinician during cardiovascular surgery. Experiments demonstrate that the RADS follows the AHV motion with a mean positioning error of 1.68 mm. The presented modelling, imaging and control framework could be adapted and applied to a range of continuum-style robots and catheters for various cardiovascular interventions.
KW - beating heart compensation
KW - Model predictive control
KW - robotically actuated delivery sheath
KW - ultrasound guided-control
UR - http://www.scopus.com/inward/record.url?scp=85018731694&partnerID=8YFLogxK
U2 - 10.1177/0278364917691113
DO - 10.1177/0278364917691113
M3 - Article
VL - 36
SP - 193
EP - 209
JO - International journal of robotics research
JF - International journal of robotics research
SN - 0278-3649
IS - 2
ER -