%0 Journal Article
%@ 1083-4435
%A Lee, Kit-Hang
%A Fu, Kin Chung Denny
%A Guo, Ziyan
%A Dong, Ziyang
%A Leong, Martin CW
%A Cheung, Chim-Lee
%A Lee, Alex Pui-Wai
%A Luk, Wayne
%A Kwok, Ka-Wai
%D 2018
%F discovery:10188951
%I Institute of Electrical and Electronics Engineers (IEEE)
%J IEEE/ASME Transactions on Mechatronics
%K MR Safe robot, robot-assisted intervention, MR  image registration, positional tracking in MRI.
%N 2
%P 586-595
%T MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization
%U https://discovery.ucl.ac.uk/id/eprint/10188951/
%V 23
%X This article introduces a robotic manipulator to  realize robot-assisted intra-cardiac catheterization in magnetic  resonance imaging (MRI) environment. MRI can offer highresolution images to visualize soft tissue features such as scars or  edema. We hypothesize that robotic catheterization, combined  with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety,  accuracy and effectiveness. This is designed particularly for  cardiac electrophysiological (EP) intervention, which is an  effective treatment of arrhythmia. We present the first MR Safe  robot for intra-cardiac EP intervention. The robot actuation  features small hysteresis, effective force transmission and quick  response, which has been experimentally verified for its capability  to precisely tele-manipulate a standard clinically used EP  catheter. We also present timely techniques for real-time  positional tracking in MRI and intra-operative image  registration, which can be integrated with the presented  manipulator to improve the performance of tele-operated robotic  catheterization.
%Z This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.